ekf2: Publish and log EKF warning and information events (NEW msg estimator_event_flags)

* msg: Add estinator information and warning events message (estimator_event_flags)
 * ekf2: publish information and warning events
 * logger: log estimator_event_flags
 * update ecl submodule to latest

Co-authored-by: Daniel Agar <daniel@agar.ca>

msg/CMakeLists.txt

@@ -57,6 +57,7 @@ set(msg_files
 	ekf_gps_drift.msg
 	esc_report.msg
 	esc_status.msg
+	estimator_event_flags.msg
 	estimator_innovations.msg
 	estimator_optical_flow_vel.msg
 	estimator_selector_status.msg

msg/estimator_event_flags.msg

@@ -0,0 +1,32 @@
+uint64 timestamp                        # time since system start (microseconds)
+uint64 timestamp_sample                 # the timestamp of the raw data (microseconds)
+
+# information events
+uint32 information_event_changes        # number of information event changes
+bool gps_checks_passed                  #  0 - true when gps quality checks are passing passed
+bool reset_vel_to_gps                   #  1 - true when the velocity states are reset to the gps measurement
+bool reset_vel_to_flow                  #  2 - true when the velocity states are reset using the optical flow measurement
+bool reset_vel_to_vision                #  3 - true when the velocity states are reset to the vision system measurement
+bool reset_vel_to_zero                  #  4 - true when the velocity states are reset to zero
+bool reset_pos_to_last_known            #  5 - true when the position states are reset to the last known position
+bool reset_pos_to_gps                   #  6 - true when the position states are reset to the gps measurement
+bool reset_pos_to_vision                #  7 - true when the position states are reset to the vision system measurement
+bool starting_gps_fusion                #  8 - true when the filter starts using gps measurements to correct the state estimates
+bool starting_vision_pos_fusion         #  9 - true when the filter starts using vision system position measurements to correct the state estimates
+bool starting_vision_vel_fusion         # 10 - true when the filter starts using vision system velocity measurements to correct the state estimates
+bool starting_vision_yaw_fusion         # 11 - true when the filter starts using vision system yaw  measurements to correct the state estimates
+bool yaw_aligned_to_imu_gps             # 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
+
+# warning events
+uint32 warning_event_changes            # number of warning event changes
+bool gps_quality_poor                   #  0 - true when the gps is failing quality checks
+bool gps_fusion_timout                  #  1 - true when the gps data has not been used to correct the state estimates for a significant time period
+bool gps_data_stopped                   #  2 - true when the gps data has stopped for a significant time period
+bool gps_data_stopped_using_alternate   #  3 - true when the gps data has stopped for a significant time period but the filter is able to use other sources of data to maintain navigation
+bool height_sensor_timeout              #  4 - true when the height sensor has not been used to correct the state estimates for a significant time period
+bool stopping_navigation                #  5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation
+bool invalid_accel_bias_cov_reset       #  6 - true when the filter has detected bad acceerometer bias state esitmstes and has reset the corresponding covariance matrix elements
+bool bad_yaw_using_gps_course           #  7 - true when the fiter has detected an invalid yaw esitmate and has reset the yaw angle to the GPS ground course
+bool stopping_mag_use                   #  8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetomer data
+bool vision_data_stopped                #  9 - true when the vision system data has stopped for a significant time period
+bool emergency_yaw_reset_mag_stopped    # 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetomer data

msg/tools/uorb_rtps_message_ids.yaml

@@ -331,6 +331,8 @@ rtps:
     id: 157
   - msg: airspeed_wind
     id: 158
+  - msg: estimator_event_flags
+    id: 159
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 170