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ekf2: add reporting of gnss_vel status flag

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bresch 2025-09-15 16:30:27 +02:00 committed by Mathieu Bresciani
parent d2e4d85bce
commit 361d66bb44
3 changed files with 4 additions and 1 deletions
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3
msg/EstimatorStatus.msg
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@ -47,7 +47,8 @@ uint8 CS_SYNTHETIC_MAG_Z = 25 # 25 - true when we are using a synthesized measur
uint8 CS_VEHICLE_AT_REST = 26 # 26 - true when the vehicle is at rest
uint8 CS_GPS_YAW_FAULT = 27 # 27 - true when the GNSS heading has been declared faulty and is no longer being used
uint8 CS_RNG_FAULT = 28 # 28 - true when the range finder has been declared faulty and is no longer being used
uint8 CS_GNSS_VEL = 44 # 44 - true if GNSS velocity measurements are being fused
uint8 CS_GNSS_VEL = 44 # 44 - true if GNSS velocity measurement fusion is intended
uint8 CS_GNSS_FAULT = 45 # 45 - true if GNSS measurements have been declared faulty and are no longer used
uint32 filter_fault_flags # Bitmask to indicate EKF internal faults
# 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error

1
msg/EstimatorStatusFlags.msg
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@ -49,6 +49,7 @@ bool cs_valid_fake_pos # 41 - true if a valid constant position is bein
bool cs_constant_pos # 42 - true if the vehicle is at a constant position
bool cs_baro_fault # 43 - true when the current baro has been declared faulty and is no longer being used
bool cs_gnss_vel # 44 - true if GNSS velocity measurement fusion is intended
bool cs_gnss_fault # 45 - true if GNSS measurements have been declared faulty and are no longer used
# fault status
uint32 fault_status_changes # number of filter fault status (fs) changes

1
src/modules/ekf2/EKF2.cpp
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@ -1935,6 +1935,7 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
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.cs_gnss_fault = _ekf.control_status_flags().gnss_fault;
status_flags.fault_status_changes = _filter_fault_status_changes;
status_flags.fs_bad_mag_x = _ekf.fault_status_flags().bad_mag_x;