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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/ekf2/EKF2.cpp
+4 -2
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@@ -533,7 +533,8 @@ void EKF2::Run()
} else if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE) {
if ((_ekf.control_status_flags().wind_dead_reckoning || _ekf.control_status_flags().inertial_dead_reckoning
|| (!_ekf.control_status_flags().in_air && !_ekf.control_status_flags().gps)) && PX4_ISFINITE(vehicle_command.param2)
|| (!_ekf.control_status_flags().in_air && !_ekf.control_status_flags().gnss_pos))
&& PX4_ISFINITE(vehicle_command.param2)
&& PX4_ISFINITE(vehicle_command.param5) && PX4_ISFINITE(vehicle_command.param6)
) {
@@ -1892,7 +1893,7 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
status_flags.control_status_changes = _filter_control_status_changes;
status_flags.cs_tilt_align = _ekf.control_status_flags().tilt_align;
status_flags.cs_yaw_align = _ekf.control_status_flags().yaw_align;
status_flags.cs_gps = _ekf.control_status_flags().gps;
status_flags.cs_gnss_pos = _ekf.control_status_flags().gnss_pos;
status_flags.cs_opt_flow = _ekf.control_status_flags().opt_flow;
status_flags.cs_mag_hdg = _ekf.control_status_flags().mag_hdg;
status_flags.cs_mag_3d = _ekf.control_status_flags().mag_3D;
@@ -1934,6 +1935,7 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
status_flags.cs_valid_fake_pos = _ekf.control_status_flags().valid_fake_pos;
status_flags.cs_constant_pos = _ekf.control_status_flags().constant_pos;
status_flags.cs_baro_fault = _ekf.control_status_flags().baro_fault;
status_flags.cs_gnss_vel = _ekf.control_status_flags().gnss_vel;
status_flags.fault_status_changes = _filter_fault_status_changes;
status_flags.fs_bad_mag_x = _ekf.fault_status_flags().bad_mag_x;