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ekf2: split gnss pos/vel flags

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They can be selected independently in the control parameter, so there is
no reason why they should share the same flag.
This commit is contained in:
bresch
2025-03-11 14:14:40 +01:00
committed by Mathieu Bresciani
parent da3a0656d4
commit 2aaa54037c
20 changed files with 200 additions and 132 deletions
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Tools/ecl_ekf/analyse_logdata_ekf.py
+2 -2
View File
@@ -111,13 +111,13 @@ def find_checks_that_apply(
innov_fail_checks.append('yaw')
# Velocity Sensor Checks
if (np.amax(estimator_status_flags['cs_gps']) > 0.5):
if (np.amax(estimator_status_flags['cs_gnss_vel']) > 0.5):
sensor_checks.append('vel')
innov_fail_checks.append('velh')
innov_fail_checks.append('velv')
# Position Sensor Checks
if (pos_checks_when_sensors_not_fused or (np.amax(estimator_status_flags['cs_gps']) > 0.5)
if (pos_checks_when_sensors_not_fused or (np.amax(estimator_status_flags['cs_gnss_pos']) > 0.5)
or (np.amax(estimator_status_flags['cs_ev_pos']) > 0.5)):
sensor_checks.append('pos')
innov_fail_checks.append('posh')
Tools/ecl_ekf/plotting/pdf_report.py
+1 -1
View File
@@ -185,7 +185,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
# plot control mode summary A
data_plot = ControlModeSummaryPlot(
status_flags_time, estimator_status_flags, [['cs_tilt_align', 'cs_yaw_align'],
['cs_gps', 'cs_opt_flow', 'cs_ev_pos'], ['cs_baro_hgt', 'cs_gps_hgt',
['cs_gnss_pos', 'cs_opt_flow', 'cs_ev_pos'], ['cs_baro_hgt', 'cs_gps_hgt',
'cs_rng_hgt', 'cs_ev_hgt'], ['cs_mag_hdg', 'cs_mag_3d', 'cs_mag_dec']],
x_label='time (sec)', y_labels=['aligned', 'pos aiding', 'hgt aiding', 'mag aiding'],
annotation_text=[['tilt alignment', 'yaw alignment'], ['GPS aiding', 'optical flow aiding',