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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/control.cpp
+1 -1
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@@ -422,7 +422,7 @@ void Ekf::controlOpticalFlowFusion()
// Check if we are in-air and require optical flow to control position drift
const bool is_flow_required = _control_status.flags.in_air
&& (_is_dead_reckoning // is doing inertial dead-reckoning so must constrain drift urgently
&& (_control_status.flags.inertial_dead_reckoning // is doing inertial dead-reckoning so must constrain drift urgently
|| isOnlyActiveSourceOfHorizontalAiding(_control_status.flags.opt_flow)
|| (_control_status.flags.gps && (_gps_error_norm > gps_err_norm_lim))); // is using GPS, but GPS is bad