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

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* 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>
This commit is contained in:
Paul Riseborough
2021-03-07 16:16:48 -05:00
committed by GitHub
co-authored by Daniel Agar
parent 18a8d89fa4
commit 4465c4fbf6
8 changed files with 105 additions and 2 deletions
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src/modules/ekf2/EKF2.hpp
+5
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@@ -64,6 +64,7 @@
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/ekf2_timestamps.h>
#include <uORB/topics/ekf_gps_drift.h>
#include <uORB/topics/estimator_event_flags.h>
#include <uORB/topics/estimator_innovations.h>
#include <uORB/topics/estimator_optical_flow_vel.h>
#include <uORB/topics/estimator_sensor_bias.h>
@@ -128,6 +129,7 @@ private:
void PublishAttitude(const hrt_abstime &timestamp);
void PublishEkfDriftMetrics(const hrt_abstime &timestamp);
void PublishEventFlags(const hrt_abstime &timestamp);
void PublishGlobalPosition(const hrt_abstime &timestamp);
void PublishInnovations(const hrt_abstime &timestamp, const imuSample &imu);
void PublishInnovationTestRatios(const hrt_abstime &timestamp);
@@ -243,6 +245,8 @@ private:
uint32_t _filter_control_status_changes{0};
uint32_t _filter_fault_status_changes{0};
uint32_t _innov_check_fail_status_changes{0};
uint32_t _filter_warning_event_changes{0};
uint32_t _filter_information_event_changes{0};
uORB::PublicationMulti<ekf2_timestamps_s> _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};
uORB::PublicationMulti<ekf_gps_drift_s> _ekf_gps_drift_pub{ORB_ID(ekf_gps_drift)};
@@ -254,6 +258,7 @@ private:
uORB::PublicationMulti<estimator_states_s> _estimator_states_pub{ORB_ID(estimator_states)};
uORB::PublicationMulti<estimator_status_s> _estimator_status_pub{ORB_ID(estimator_status)};
uORB::PublicationMulti<estimator_status_flags_s> _estimator_status_flags_pub{ORB_ID(estimator_status_flags)};
uORB::PublicationMulti<estimator_event_flags_s> _estimator_event_flags_pub{ORB_ID(estimator_event_flags)};
uORB::PublicationMulti<vehicle_odometry_s> _estimator_visual_odometry_aligned_pub{ORB_ID(estimator_visual_odometry_aligned)};
uORB::PublicationMulti<yaw_estimator_status_s> _yaw_est_pub{ORB_ID(yaw_estimator_status)};