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ekf: add range finder "faulty" status

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When delclared faulty, the range finder cannot be used anymore
This commit is contained in:
bresch
2022-02-11 10:57:45 -05:00
committed by Daniel Agar
parent a3b2550f07
commit 5818974f0f
6 changed files with 8 additions and 1 deletions
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msg/estimator_status.msg
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@@ -45,6 +45,7 @@ uint8 CS_EV_VEL = 24 # 24 - true when local frame velocity data fusion from ext
uint8 CS_SYNTHETIC_MAG_Z = 25 # 25 - true when we are using a synthesized measurement for the magnetometer Z component
uint8 CS_VEHICLE_AT_REST = 26 # 26 - true when the vehicle is at rest
uint8 CS_GPS_YAW_FAULT = 27 # 27 - true when the GNSS heading has been declared faulty and is no longer being used
uint8 CS_RNG_FAULT = 28 # 28 - true when the range finder has been declared faulty and is no longer being used
uint32 filter_fault_flags # Bitmask to indicate EKF internal faults
# 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
msg/estimator_status_flags.msg
+1
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@@ -32,6 +32,7 @@ bool cs_ev_vel # 24 - true when local frame velocity data fusion
bool cs_synthetic_mag_z # 25 - true when we are using a synthesized measurement for the magnetometer Z component
bool cs_vehicle_at_rest # 26 - true when the vehicle is at rest
bool cs_gps_yaw_fault # 27 - true when the GNSS heading has been declared faulty and is no longer being used
bool cs_rng_fault # 28 - true when the range finder has been declared faulty and is no longer being used
# fault status
uint32 fault_status_changes # number of filter fault status (fs) changes