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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/EKF2.cpp
+4 -1
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@@ -744,7 +744,8 @@ void EKF2::PublishGlobalPosition(const hrt_abstime &timestamp)
global_pos.terrain_alt_valid = false;
}
global_pos.dead_reckoning = _ekf.inertial_dead_reckoning(); // True if this position is estimated through dead-reckoning
global_pos.dead_reckoning = _ekf.control_status_flags().inertial_dead_reckoning
|| _ekf.control_status_flags().wind_dead_reckoning;
global_pos.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
_global_position_pub.publish(global_pos);
}
@@ -1273,6 +1274,8 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
status_flags.cs_vehicle_at_rest = _ekf.control_status_flags().vehicle_at_rest;
status_flags.cs_gps_yaw_fault = _ekf.control_status_flags().gps_yaw_fault;
status_flags.cs_rng_fault = _ekf.control_status_flags().rng_fault;
status_flags.cs_inertial_dead_reckoning = _ekf.control_status_flags().inertial_dead_reckoning;
status_flags.cs_wind_dead_reckoning = _ekf.control_status_flags().wind_dead_reckoning;
status_flags.fault_status_changes = _filter_fault_status_changes;
status_flags.fs_bad_mag_x = _ekf.fault_status_flags().bad_mag_x;