msg: new estimator_status_flags message for more accessible ekf2 status logging

mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 02:03:35 +08:00

- log all estimator (ekf2) flags as separate booleans in a new dedicated low rate message (only publishes at 1 Hz or immediately on any change)
 - this is a bit verbose, but it avoids the duplicate bit definitions we currently have across PX4 msgs, ecl analysis script, flight review, and many other custom tools and it's much easier for casual log review in FlightPlot, PlotJuggler, csv, etc
 - for compatibility I've left estimator_status filter_fault_flags, innovation_check_flags, and solution_status_flags in place, but they can gradually be removed as tooling is updated

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

This commit is contained in:

Daniel Agar

2020-12-29 11:27:21 -05:00

committed by

GitHub

co-authored by

Mathieu Bresciani

parent ddc1f964d2

commit 4f62355dec

7 changed files with 194 additions and 0 deletions

									
										msg/tools/uorb_rtps_message_ids.yaml
									
		+2
		
												View File
												
				@@ -291,6 +291,8 @@ rtps:

				    id: 139

				  - msg: manual_control_switches

				    id: 140

				  - msg: estimator_status_flags

				    id: 141

				  ########## multi topics: begin ##########

				  - msg: actuator_controls_0

				    id: 150