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commander: monitor GPS validity and EKF2 dead reckoning

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- 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
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msg/estimator_status_flags.msg
+2
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@@ -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