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EKF: update control status and fault status getters

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- the fault status union exceeded 16 bits, but the getter was get_filter_fault_status(uint16_t *val)
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Daniel Agar
2020-12-10 09:13:12 -05:00
committed by GitHub
parent fbf67bdef9
commit 1541e4b414
3 changed files with 64 additions and 84 deletions
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EKF/estimator_interface.h
+5 -2
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@@ -196,14 +196,17 @@ public:
}
// get EKF mode status
void get_control_mode(uint32_t *val) const { *val = _control_status.value; }
const filter_control_status_u &control_status() const { return _control_status; }
const decltype(filter_control_status_u::flags) &control_status_flags() const { return _control_status.flags; }
const filter_control_status_u &control_status_prev() const { return _control_status_prev; }
const decltype(filter_control_status_u::flags) &control_status_prev_flags() const { return _control_status_prev.flags; }
// get EKF internal fault status
void get_filter_fault_status(uint16_t *val) const { *val = _fault_status.value; }
const fault_status_u &fault_status() const { return _fault_status; }
const decltype(fault_status_u::flags) &fault_status_flags() const { return _fault_status.flags; }
const innovation_fault_status_u &innov_check_fail_status() const { return _innov_check_fail_status; }
const decltype(innovation_fault_status_u::flags) &innov_check_fail_status_flags() const { return _innov_check_fail_status.flags; }
bool isVehicleAtRest() const { return _control_status.flags.vehicle_at_rest; }