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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
2025-03-06 15:43:38 +01:00
committed by Mathieu Bresciani
parent da3a0656d4
commit 2aaa54037c
20 changed files with 200 additions and 132 deletions
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src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+1 -1
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@@ -224,7 +224,7 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
// If GPS aiding is required, declare fault condition if the required GPS quality checks are failing
if (_param_sys_has_gps.get()) {
const bool ekf_gps_fusion = estimator_status.control_mode_flags & (1 << estimator_status_s::CS_GPS);
const bool ekf_gps_fusion = estimator_status.control_mode_flags & (1 << estimator_status_s::CS_GNSS_POS);
const bool ekf_gps_check_fail = estimator_status.gps_check_fail_flags > 0;
if (ekf_gps_fusion) {