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ekf2: add reporting of gnss_vel status flag

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bresch
2025-09-18 17:00:16 +02:00
committed by Mathieu Bresciani
parent d2e4d85bce
commit 361d66bb44
3 changed files with 4 additions and 1 deletions
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msg/EstimatorStatus.msg
+2 -1
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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
msg/EstimatorStatusFlags.msg
+1
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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