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ekf2: add terrain estimator_status_flags

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Daniel Agar
2024-07-09 10:10:01 -04:00
parent 64a6971bdb
commit 3e3b886b5d
9 changed files with 47 additions and 48 deletions
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src/modules/ekf2/EKF/common.h
+3 -11
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@@ -581,7 +581,9 @@ union filter_control_status_u {
uint64_t mag : 1; ///< 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended
uint64_t ev_yaw_fault : 1; ///< 36 - true when the EV heading has been declared faulty and is no longer being used
uint64_t mag_heading_consistent : 1; ///< 37 - true when the heading obtained from mag data is declared consistent with the filter
uint64_t aux_gpos : 1;
uint64_t aux_gpos : 1; ///< 38 - true if auxiliary global position measurement fusion is intended
uint64_t rng_terrain : 1; ///< 39 - true if we are fusing range finder data for terrain
uint64_t opt_flow_terrain : 1; ///< 40 - true if we are fusing flow data for terrain
} flags;
uint64_t value;
@@ -606,16 +608,6 @@ union ekf_solution_status_u {
uint16_t value;
};
#if defined(CONFIG_EKF2_TERRAIN)
union terrain_fusion_status_u {
struct {
bool range_finder : 1; ///< 0 - true if we are fusing range finder data
bool flow : 1; ///< 1 - true if we are fusing flow data
} flags;
uint8_t value;
};
#endif // CONFIG_EKF2_TERRAIN
// define structure used to communicate information events
union information_event_status_u {
struct {