add cs_baro_fault to switch to fallback baro if available (#24260)

src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp

@@ -65,6 +65,7 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
 			if ((_baro_counter == 0) || baro_sample.reset) {
 				_baro_lpf.reset(measurement);
 				_baro_counter = 1;
+				_control_status.flags.baro_fault = false;
 
 			} else {
 				_baro_lpf.update(measurement);
@@ -113,7 +114,7 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
 		const bool continuing_conditions_passing = (_params.baro_ctrl == 1)
 				&& measurement_valid
 				&& (_baro_counter > _obs_buffer_length)
-				&& !_baro_hgt_faulty;
+				&& !_control_status.flags.baro_fault;
 
 		const bool starting_conditions_passing = continuing_conditions_passing
 				&& isNewestSampleRecent(_time_last_baro_buffer_push, 2 * BARO_MAX_INTERVAL);
@@ -148,7 +149,7 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
 
 					if (isRecent(_time_last_hgt_fuse, _params.hgt_fusion_timeout_max)) {
 						// Some other height source is still working
-						_baro_hgt_faulty = true;
+						_control_status.flags.baro_fault = true;
 					}
 				}
 

src/modules/ekf2/EKF/common.h

@@ -620,6 +620,7 @@ uint64_t mag_heading_consistent  :
 		uint64_t opt_flow_terrain        : 1; ///< 40 - true if we are fusing flow data for terrain
 		uint64_t valid_fake_pos          : 1; ///< 41 - true if a valid constant position is being fused
 		uint64_t constant_pos            : 1; ///< 42 - true if the vehicle is at a constant position
+		uint64_t baro_fault	      : 1; ///< 43 - true when the baro has been declared faulty and is no longer being used
 
 	} flags;
 	uint64_t value;

src/modules/ekf2/EKF/ekf.h

@@ -602,7 +602,6 @@ private:
 
 	HeightBiasEstimator _baro_b_est{HeightSensor::BARO, _height_sensor_ref};
 
-	bool _baro_hgt_faulty{false};		///< true if baro data have been declared faulty TODO: move to fault flags
 #endif // CONFIG_EKF2_BAROMETER
 
 #if defined(CONFIG_EKF2_MAGNETOMETER)

src/modules/ekf2/EKF2.cpp

@@ -1933,6 +1933,7 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
 		status_flags.cs_opt_flow_terrain    = _ekf.control_status_flags().opt_flow_terrain;
 		status_flags.cs_valid_fake_pos      = _ekf.control_status_flags().valid_fake_pos;
 		status_flags.cs_constant_pos        = _ekf.control_status_flags().constant_pos;
+		status_flags.cs_baro_fault	    = _ekf.control_status_flags().baro_fault;
 
 		status_flags.fault_status_changes     = _filter_fault_status_changes;
 		status_flags.fs_bad_mag_x             = _ekf.fault_status_flags().bad_mag_x;