fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-30 05:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: cleanup legacy EKF solution_status_flags

Browse Source
This commit is contained in:
Daniel Agar
2024-07-16 10:11:27 +02:00
committed by Mathieu Bresciani
parent 1cd7d54170
commit 48f1687d3a
4 changed files with 52 additions and 54 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/common.h
-22
View File
@@ -613,28 +613,6 @@ uint64_t mag_heading_consistent :
uint64_t value;
};
// Mavlink bitmask containing state of estimator solution
union ekf_solution_status_u {
struct {
uint16_t attitude : 1; ///< 0 - True if the attitude estimate is good
uint16_t velocity_horiz : 1; ///< 1 - True if the horizontal velocity estimate is good
uint16_t velocity_vert : 1; ///< 2 - True if the vertical velocity estimate is good
uint16_t pos_horiz_rel : 1; ///< 3 - True if the horizontal position (relative) estimate is good
uint16_t pos_horiz_abs : 1; ///< 4 - True if the horizontal position (absolute) estimate is good
uint16_t pos_vert_abs : 1; ///< 5 - True if the vertical position (absolute) estimate is good
uint16_t pos_vert_agl : 1; ///< 6 - True if the vertical position (above ground) estimate is good
uint16_t const_pos_mode :
1; ///< 7 - True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
uint16_t pred_pos_horiz_rel :
1; ///< 8 - True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
uint16_t pred_pos_horiz_abs :
1; ///< 9 - True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
uint16_t gps_glitch : 1; ///< 10 - True if the EKF has detected a GPS glitch
uint16_t accel_error : 1; ///< 11 - True if the EKF has detected bad accelerometer data
} flags;
uint16_t value;
};
// define structure used to communicate information events
union information_event_status_u {
struct {