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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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src/modules/ekf2/EKF/common.h
+2
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@@ -491,6 +491,8 @@ union filter_control_status_u {
uint32_t vehicle_at_rest : 1; ///< 26 - true when the vehicle is at rest
uint32_t gps_yaw_fault : 1; ///< 27 - true when the GNSS heading has been declared faulty and is no longer being used
uint32_t rng_fault : 1; ///< 28 - true when the range finder has been declared faulty and is no longer being used
uint32_t inertial_dead_reckoning : 1; ///< 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift
uint32_t wind_dead_reckoning : 1; ///< 30 - true if we are navigationg reliant on wind relative measurements
} flags;
uint32_t value;
};