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ekf2: synchronize z_valid and v_z_valid

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mc_pos_control doesn't handle all the cases at the moment
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bresch 2022-09-15 16:22:47 +02:00 committed by Daniel Agar
parent f753b92cff
commit 1914053db2
1 changed files with 4 additions and 3 deletions
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src/modules/ekf2/EKF2.cpp
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@ -1096,11 +1096,12 @@ void EKF2::PublishLocalPosition(const hrt_abstime &timestamp)
lpos.ay = vel_deriv(1);
lpos.az = vel_deriv(2);
// TODO: better status reporting
lpos.xy_valid = _ekf.local_position_is_valid();
lpos.z_valid = _ekf.isLocalVerticalPositionValid();
lpos.v_xy_valid = _ekf.local_position_is_valid();
lpos.v_z_valid = _ekf.isLocalVerticalVelocityValid();
// TODO: some modules (e.g.: mc_pos_control) don't handle v_z_valid != z_valid properly
lpos.z_valid = _ekf.isLocalVerticalPositionValid() || _ekf.isLocalVerticalVelocityValid();
lpos.v_z_valid = _ekf.isLocalVerticalVelocityValid() || _ekf.isLocalVerticalPositionValid();
// Position of local NED origin in GPS / WGS84 frame
if (_ekf.global_origin_valid()) {