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commander: add pre-flight check and parameter for magnetic field strength

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bresch
2019-11-11 14:57:06 +01:00
committed by Mathieu Bresciani
parent a8ea55d9b6
commit 12177cb33b
4 changed files with 25 additions and 3 deletions
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src/modules/ekf2/ekf2_main.cpp
+5 -2
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@@ -522,7 +522,8 @@ private:
(ParamExtFloat<px4::params::EKF2_MOVE_TEST>)
_param_ekf2_move_test, ///< scaling applied to IMU data thresholds used to determine if the vehicle is static or moving.
(ParamFloat<px4::params::EKF2_REQ_GPS_H>) _param_ekf2_req_gps_h ///< Required GPS health time
(ParamFloat<px4::params::EKF2_REQ_GPS_H>) _param_ekf2_req_gps_h, ///< Required GPS health time
(ParamExtInt<px4::params::EKF2_MAG_CHECK>) _param_ekf2_mag_check ///< Mag field strength check
)
@@ -627,7 +628,8 @@ Ekf2::Ekf2(bool replay_mode):
_param_ekf2_drag_noise(_params->drag_noise),
_param_ekf2_bcoef_x(_params->bcoef_x),
_param_ekf2_bcoef_y(_params->bcoef_y),
_param_ekf2_move_test(_params->is_moving_scaler)
_param_ekf2_move_test(_params->is_moving_scaler),
_param_ekf2_mag_check(_params->check_mag_strength)
{
// initialise parameter cache
updateParams();
@@ -1541,6 +1543,7 @@ void Ekf2::Run()
status.pre_flt_fail_innov_vel_horiz = _preflt_checker.hasHorizVelFailed();
status.pre_flt_fail_innov_vel_vert = _preflt_checker.hasVertVelFailed();
status.pre_flt_fail_innov_height = _preflt_checker.hasHeightFailed();
status.pre_flt_fail_mag_field_disturbed = control_status.flags.mag_field_disturbed;
_estimator_status_pub.publish(status);