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Commander: rework GPS invalid warning to use estimator feedback instead of separate GPS quality thresholds

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-02-24 13:32:38 +01:00
committed by Beat Küng
parent e6af8b9aa6
commit 526e066d9a
5 changed files with 33 additions and 54 deletions
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src/modules/mavlink/streams/HIGH_LATENCY2.hpp
+4 -4
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@@ -310,6 +310,10 @@ private:
msg->failure_flags |= HL_FAILURE_FLAG_ESTIMATOR;
}
if (estimator_status.gps_check_fail_flags > 0) {
msg->failure_flags |= HL_FAILURE_FLAG_GPS;
}
return true;
}
@@ -448,10 +452,6 @@ private:
failsafe_flags_s failsafe_flags;
if (_failsafe_flags_sub.update(&failsafe_flags)) {
if (failsafe_flags.gps_position_invalid) {
msg->failure_flags |= HL_FAILURE_FLAG_GPS;
}
if (failsafe_flags.offboard_control_signal_lost) {
msg->failure_flags |= HL_FAILURE_FLAG_OFFBOARD_LINK;
}