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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
2021-12-03 11:42:05 -05:00
parent 6021b8efb3
commit 1d7791dad6
14 changed files with 121 additions and 45 deletions
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src/modules/ekf2/EKF/python/ekf_derivation/generated/beta_fusion_generated_compare.cpp
+1 -1
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@@ -138,7 +138,7 @@ int main()
const float HK52 = HK16/_beta_innov_var;
// determine if we need the sideslip fusion to correct states other than wind
// bool update_wind_only = !_is_wind_dead_reckoning;
// bool update_wind_only = !_control_status.flags.wind_dead_reckoning;
bool update_wind_only = false;
// // Calculate predicted sideslip angle and innovation using small angle approximation