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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/vehicle_status_flags.msg
+7
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@@ -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