fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 06:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: monitor GPS validity and EKF2 dead reckoning

Browse Source 
- ekf2: expose dead reckoning as control status flags
 - commander:
    - add GPS validity check
    - in AUTO MISSION if dependent on GPS then a loss of GPS will
This commit is contained in:
Daniel Agar
2022-02-22 09:46:21 -05:00
parent 6021b8efb3
commit 1d7791dad6
14 changed files with 121 additions and 45 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/estimator_status_flags.msg
+2
View File
@@ -33,6 +33,8 @@ bool cs_synthetic_mag_z # 25 - true when we are using a synthesized measur
bool cs_vehicle_at_rest # 26 - true when the vehicle is at rest
bool cs_gps_yaw_fault # 27 - true when the GNSS heading has been declared faulty and is no longer being used
bool cs_rng_fault # 28 - true when the range finder has been declared faulty and is no longer being used
bool cs_inertial_dead_reckoning # 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift
bool cs_wind_dead_reckoning # 30 - true if we are navigationg reliant on wind relative measurements
# fault status
uint32 fault_status_changes # number of filter fault status (fs) changes
msg/vehicle_status_flags.msg
+7
View File
@@ -13,12 +13,19 @@ bool condition_local_altitude_valid
bool condition_local_position_valid # set to true by the commander app if the quality of the local position estimate is good enough to use for navigation
bool condition_local_velocity_valid # set to true by the commander app if the quality of the local horizontal velocity data is good enough to use for navigation
bool condition_global_position_valid # set to true by the commander app if the quality of the global position estimate is good enough to use for navigation
bool condition_gps_position_valid
bool condition_home_position_valid # indicates a valid home position (a valid home position is not always a valid launch)
bool condition_power_input_valid # set if input power is valid
bool condition_battery_healthy # set if battery is available and not low
bool condition_escs_error # set to true if one or more ESCs reporting esc_status are offline
bool condition_escs_failure # set to true if one or more ESCs reporting esc_status has a failure
bool position_reliant_on_gps
bool position_reliant_on_optical_flow
bool position_reliant_on_vision_position
bool dead_reckoning
bool circuit_breaker_engaged_power_check
bool circuit_breaker_engaged_airspd_check
bool circuit_breaker_engaged_enginefailure_check