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EKF: allow emergency reset in GNSS yaw and EV yaw aiding modes

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bresch
2021-08-05 11:10:02 +02:00
committed by Mathieu Bresciani
parent 4ebfbc6eab
commit 11cd51c132
4 changed files with 30 additions and 18 deletions
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src/modules/ekf2/EKF/common.h
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@@ -552,6 +552,7 @@ union warning_event_status_u {
bool stopping_mag_use : 1; ///< 8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetomer data
bool vision_data_stopped : 1; ///< 9 - true when the vision system data has stopped for a significant time period
bool emergency_yaw_reset_mag_stopped : 1; ///< 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetomer data
bool emergency_yaw_reset_gps_yaw_stopped: 1; ///< 11 - true when the filter has detected bad GNSS yaw data, has reset the yaw to anothter source of data and has stopped further use of the GNSS yaw data
} flags;
uint32_t value;
};