estimator_status_flags: remove useless logged flags

Those flags are not so useful for log analysis and can be found in the
aid_src topics

msg/EstimatorStatusFlags.msg

@@ -66,17 +66,3 @@ bool fs_bad_optflow_x         #  7 - true if fusion of the optical flow X axis h
 bool fs_bad_optflow_y         #  8 - true if fusion of the optical flow Y axis has encountered a numerical error
 bool fs_bad_acc_vertical      # 10 - true if bad vertical accelerometer data has been detected
 bool fs_bad_acc_clipping      # 11 - true if delta velocity data contains clipping (asymmetric railing)
-
-
-# innovation test failures
-uint32 innovation_fault_status_changes    # number of innovation fault status (reject) changes
-bool reject_hor_vel                       #  0 - true if horizontal velocity observations have been rejected
-bool reject_ver_vel                       #  1 - true if vertical velocity observations have been rejected
-bool reject_hor_pos                       #  2 - true if horizontal position observations have been rejected
-bool reject_ver_pos                       #  3 - true if vertical position observations have been rejected
-bool reject_yaw                           #  7 - true if the yaw observation has been rejected
-bool reject_airspeed                      #  8 - true if the airspeed observation has been rejected
-bool reject_sideslip                      #  9 - true if the synthetic sideslip observation has been rejected
-bool reject_hagl                          # 10 - true if the height above ground observation has been rejected
-bool reject_optflow_x                     # 11 - true if the X optical flow observation has been rejected
-bool reject_optflow_y                     # 12 - true if the Y optical flow observation has been rejected

src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp

@@ -93,9 +93,6 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
 
 		updateAirspeed(airspeed_sample, _aid_src_airspeed);
 
-		_innov_check_fail_status.flags.reject_airspeed =
-			_aid_src_airspeed.innovation_rejected; // TODO: remove this redundant flag
-
 		const bool continuing_conditions_passing = _control_status.flags.in_air && (_control_status.flags.fixed_wing
 				|| _control_status.flags.in_transition_to_fw)
 				&& !_control_status.flags.fake_pos;

src/modules/ekf2/EKF/aid_sources/gnss/gnss_yaw_control.cpp

@@ -159,7 +159,6 @@ void Ekf::fuseGnssYaw(float antenna_yaw_offset)
 	auto &aid_src = _aid_src_gnss_yaw;
 
 	if (aid_src.innovation_rejected) {
-		_innov_check_fail_status.flags.reject_yaw = true;
 		return;
 	}
 
@@ -189,7 +188,6 @@ void Ekf::fuseGnssYaw(float antenna_yaw_offset)
 	}
 
 	_fault_status.flags.bad_hdg = false;
-	_innov_check_fail_status.flags.reject_yaw = false;
 
 	if ((fabsf(aid_src.test_ratio_filtered) > 0.2f)
 	    && !_control_status.flags.in_air && isTimedOut(aid_src.time_last_fuse, (uint64_t)1e6)

src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp

@@ -149,11 +149,6 @@ void Ekf::controlMagFusion(const imuSample &imu_sample)
 				      innov_var,                               // innovation variance
 				      math::max(_params.ekf2_mag_gate, 1.f)); // innovation gate
 
-		// Perform an innovation consistency check and report the result
-		_innov_check_fail_status.flags.reject_mag_x = (aid_src.test_ratio[0] > 1.f);
-		_innov_check_fail_status.flags.reject_mag_y = (aid_src.test_ratio[1] > 1.f);
-		_innov_check_fail_status.flags.reject_mag_z = (aid_src.test_ratio[2] > 1.f);
-
 		// determine if we should use mag fusion
 		bool continuing_conditions_passing = ((_params.ekf2_mag_type == MagFuseType::INIT)
 						      || (_params.ekf2_mag_type == MagFuseType::AUTO)

src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp

@@ -233,9 +233,6 @@ void Ekf::resetFlowFusion(const flowSample &flow_sample)
 	resetHorizontalVelocityTo(getFilteredFlowVelNE(), flow_vel_var);
 
 	resetAidSourceStatusZeroInnovation(_aid_src_optical_flow);
-
-	_innov_check_fail_status.flags.reject_optflow_X = false;
-	_innov_check_fail_status.flags.reject_optflow_Y = false;
 }
 
 void Ekf::resetTerrainToFlow()
@@ -265,10 +262,6 @@ void Ekf::resetTerrainToFlow()
 
 	resetAidSourceStatusZeroInnovation(_aid_src_optical_flow);
 
-	_innov_check_fail_status.flags.reject_optflow_X = false;
-	_innov_check_fail_status.flags.reject_optflow_Y = false;
-
-
 	// record the state change
 	if (_state_reset_status.reset_count.hagl == _state_reset_count_prev.hagl) {
 		_state_reset_status.hagl_change = delta_terrain;
@@ -291,9 +284,6 @@ void Ekf::stopFlowFusion()
 		_fault_status.flags.bad_optflow_X = false;
 		_fault_status.flags.bad_optflow_Y = false;
 
-		_innov_check_fail_status.flags.reject_optflow_X = false;
-		_innov_check_fail_status.flags.reject_optflow_Y = false;
-
 		_flow_counter = 0;
 	}
 }

src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_fusion.cpp

@@ -48,8 +48,6 @@ bool Ekf::fuseOptFlow(VectorState &H, const bool update_terrain)
 
 	// if either axis fails we abort the fusion
 	if (_aid_src_optical_flow.innovation_rejected) {
-		_innov_check_fail_status.flags.reject_optflow_X = true;
-		_innov_check_fail_status.flags.reject_optflow_Y = true;
 		return false;
 	}
 
@@ -100,9 +98,6 @@ bool Ekf::fuseOptFlow(VectorState &H, const bool update_terrain)
 	_fault_status.flags.bad_optflow_X = false;
 	_fault_status.flags.bad_optflow_Y = false;
 
-	_innov_check_fail_status.flags.reject_optflow_X = (_aid_src_optical_flow.test_ratio[0] > 1.f);
-	_innov_check_fail_status.flags.reject_optflow_Y = (_aid_src_optical_flow.test_ratio[1] > 1.f);
-
 	_aid_src_optical_flow.time_last_fuse = _time_delayed_us;
 	_aid_src_optical_flow.fused = true;
 

src/modules/ekf2/EKF/aid_sources/range_finder/range_height_fusion.cpp

@@ -37,7 +37,6 @@
 bool Ekf::fuseHaglRng(estimator_aid_source1d_s &aid_src, bool update_height, bool update_terrain)
 {
 	if (aid_src.innovation_rejected) {
-		_innov_check_fail_status.flags.reject_hagl = true;
 		return false;
 	}
 
@@ -60,9 +59,6 @@ bool Ekf::fuseHaglRng(estimator_aid_source1d_s &aid_src, bool update_height, boo
 
 	measurementUpdate(K, H, aid_src.observation_variance, aid_src.innovation);
 
-	// record last successful fusion event
-	_innov_check_fail_status.flags.reject_hagl = false;
-
 	aid_src.time_last_fuse = _time_delayed_us;
 	aid_src.fused = true;
 

src/modules/ekf2/EKF/aid_sources/sideslip/sideslip_fusion.cpp

@@ -62,7 +62,6 @@ void Ekf::controlBetaFusion(const imuSample &imu_delayed)
 		if (beta_fusion_time_triggered) {
 
 			updateSideslip(_aid_src_sideslip);
-			_innov_check_fail_status.flags.reject_sideslip = _aid_src_sideslip.innovation_rejected;
 
 			if (fuseSideslip(_aid_src_sideslip)) {
 				_control_status.flags.wind = true;

src/modules/ekf2/EKF/common.h

@@ -527,26 +527,6 @@ bool bad_sideslip      :
 	uint32_t value;
 };
 
-// define structure used to communicate innovation test failures
-union innovation_fault_status_u {
-	struct {
-		bool reject_hor_vel   : 1; ///< 0 - true if horizontal velocity observations have been rejected
-		bool reject_ver_vel   : 1; ///< 1 - true if vertical velocity observations have been rejected
-		bool reject_hor_pos   : 1; ///< 2 - true if horizontal position observations have been rejected
-		bool reject_ver_pos   : 1; ///< 3 - true if true if vertical position observations have been rejected
-		bool reject_mag_x     : 1; ///< 4 - true if the X magnetometer observation has been rejected
-		bool reject_mag_y     : 1; ///< 5 - true if the Y magnetometer observation has been rejected
-		bool reject_mag_z     : 1; ///< 6 - true if the Z magnetometer observation has been rejected
-		bool reject_yaw       : 1; ///< 7 - true if the yaw observation has been rejected
-		bool reject_airspeed  : 1; ///< 8 - true if the airspeed observation has been rejected
-		bool reject_sideslip  : 1; ///< 9 - true if the synthetic sideslip observation has been rejected
-		bool reject_hagl      : 1; ///< 10 - unused
-		bool reject_optflow_X : 1; ///< 11 - true if the X optical flow observation has been rejected
-		bool reject_optflow_Y : 1; ///< 12 - true if the Y optical flow observation has been rejected
-	} flags;
-	uint16_t value;
-};
-
 // bitmask containing filter control status
 union filter_control_status_u {
 	struct {

src/modules/ekf2/EKF/ekf.cpp

@@ -91,7 +91,6 @@ void Ekf::reset()
 	_control_status_prev.flags.in_air = true;
 
 	_fault_status.value = 0;
-	_innov_check_fail_status.value = 0;
 
 #if defined(CONFIG_EKF2_GNSS)
 	_gnss_checks.resetHard();

src/modules/ekf2/EKF/estimator_interface.h

@@ -313,9 +313,6 @@ public:
 	const fault_status_u &fault_status() const { return _fault_status; }
 	const decltype(fault_status_u::flags) &fault_status_flags() const { return _fault_status.flags; }
 
-	const innovation_fault_status_u &innov_check_fail_status() const { return _innov_check_fail_status; }
-	const decltype(innovation_fault_status_u::flags) &innov_check_fail_status_flags() const { return _innov_check_fail_status.flags; }
-
 	const information_event_status_u &information_event_status() const { return _information_events; }
 	const decltype(information_event_status_u::flags) &information_event_flags() const { return _information_events.flags; }
 	void clear_information_events() { _information_events.value = 0; }
@@ -433,8 +430,6 @@ protected:
 	dragSample _drag_down_sampled{};	// down sampled drag specific force data (filter prediction rate -> observation rate)
 #endif // CONFIG_EKF2_DRAG_FUSION
 
-	innovation_fault_status_u _innov_check_fail_status{};
-
 	bool _horizontal_deadreckon_time_exceeded{true};
 	bool _vertical_position_deadreckon_time_exceeded{true};
 	bool _vertical_velocity_deadreckon_time_exceeded{true};

src/modules/ekf2/EKF/yaw_fusion.cpp

@@ -75,8 +75,6 @@ bool Ekf::fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H
 
 	// set the heading unhealthy if the test fails
 	if (aid_src_status.innovation_rejected) {
-		_innov_check_fail_status.flags.reject_yaw = true;
-
 		// if we are in air we don't want to fuse the measurement
 		// we allow to use it when on the ground because the large innovation could be caused
 		// by interference or a large initial gyro bias
@@ -98,9 +96,6 @@ bool Ekf::fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H
 		} else {
 			return false;
 		}
-
-	} else {
-		_innov_check_fail_status.flags.reject_yaw = false;
 	}
 
 	measurementUpdate(Kfusion, H_YAW, aid_src_status.observation_variance, aid_src_status.innovation);

src/modules/ekf2/EKF2.cpp

@@ -1898,13 +1898,6 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
 		_filter_fault_status_changes++;
 	}
 
-	// innovation check fail status
-	if (_ekf.innov_check_fail_status().value != _innov_check_fail_status) {
-		update = true;
-		_innov_check_fail_status = _ekf.innov_check_fail_status().value;
-		_innov_check_fail_status_changes++;
-	}
-
 	if (update) {
 		estimator_status_flags_s status_flags{};
 		status_flags.timestamp_sample = _ekf.time_delayed_us();
@@ -1972,18 +1965,6 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
 		status_flags.fs_bad_acc_vertical      = _ekf.fault_status_flags().bad_acc_vertical;
 		status_flags.fs_bad_acc_clipping      = _ekf.fault_status_flags().bad_acc_clipping;
 
-		status_flags.innovation_fault_status_changes = _innov_check_fail_status_changes;
-		status_flags.reject_hor_vel                  = _ekf.innov_check_fail_status_flags().reject_hor_vel;
-		status_flags.reject_ver_vel                  = _ekf.innov_check_fail_status_flags().reject_ver_vel;
-		status_flags.reject_hor_pos                  = _ekf.innov_check_fail_status_flags().reject_hor_pos;
-		status_flags.reject_ver_pos                  = _ekf.innov_check_fail_status_flags().reject_ver_pos;
-		status_flags.reject_yaw                      = _ekf.innov_check_fail_status_flags().reject_yaw;
-		status_flags.reject_airspeed                 = _ekf.innov_check_fail_status_flags().reject_airspeed;
-		status_flags.reject_sideslip                 = _ekf.innov_check_fail_status_flags().reject_sideslip;
-		status_flags.reject_hagl                     = _ekf.innov_check_fail_status_flags().reject_hagl;
-		status_flags.reject_optflow_x                = _ekf.innov_check_fail_status_flags().reject_optflow_X;
-		status_flags.reject_optflow_y                = _ekf.innov_check_fail_status_flags().reject_optflow_Y;
-
 		status_flags.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
 		_estimator_status_flags_pub.publish(status_flags);
 

src/modules/ekf2/EKF2.hpp

@@ -414,11 +414,9 @@ private:
 
 	uint64_t _filter_control_status{0};
 	uint32_t _filter_fault_status{0};
-	uint32_t _innov_check_fail_status{0};
 
 	uint32_t _filter_control_status_changes{0};
 	uint32_t _filter_fault_status_changes{0};
-	uint32_t _innov_check_fail_status_changes{0};
 	uint32_t _filter_information_event_changes{0};
 
 	uORB::PublicationMulti<ekf2_timestamps_s>            _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};