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ekf2: add new estimator_gps_status.msg

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- includes the estimator status check fail bits broken out as descriptive booleans
 - absorbs ekf_gps_drift.msg
This commit is contained in:
Daniel Agar
2022-02-18 11:56:43 -05:00
parent f8d7574d3c
commit 591b7b6934
11 changed files with 93 additions and 83 deletions
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msg/CMakeLists.txt
+1 -1
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@@ -64,7 +64,7 @@ set(msg_files
differential_pressure.msg
distance_sensor.msg
ekf2_timestamps.msg
ekf_gps_drift.msg
estimator_gps_status.msg
esc_report.msg
esc_status.msg
estimator_baro_bias.msg
msg/ekf_gps_drift.msg
-6
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@@ -1,6 +0,0 @@
uint64 timestamp # time since system start (microseconds)
float32 hpos_drift_rate # Horizontal position rate magnitude checked using EKF2_REQ_HDRIFT (m/s)
float32 vpos_drift_rate # Vertical position rate magnitude checked using EKF2_REQ_VDRIFT (m/s)
float32 hspd # Filtered horizontal velocity magnitude checked using EKF2_REQ_HDRIFT (m/s)
bool blocked # true when drift calculation is blocked due to IMU movement check
msg/estimator_gps_status.msg
+19
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@@ -0,0 +1,19 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
bool checks_passed
bool check_fail_gps_fix # 0 : insufficient fix type (no 3D solution)
bool check_fail_min_sat_count # 1 : minimum required sat count fail
bool check_fail_max_pdop # 2 : maximum allowed PDOP fail
bool check_fail_max_horz_err # 3 : maximum allowed horizontal position error fail
bool check_fail_max_vert_err # 4 : maximum allowed vertical position error fail
bool check_fail_max_spd_err # 5 : maximum allowed speed error fail
bool check_fail_max_horz_drift # 6 : maximum allowed horizontal position drift fail - requires stationary vehicle
bool check_fail_max_vert_drift # 7 : maximum allowed vertical position drift fail - requires stationary vehicle
bool check_fail_max_horz_spd_err # 8 : maximum allowed horizontal speed fail - requires stationary vehicle
bool check_fail_max_vert_spd_err # 9 : maximum allowed vertical velocity discrepancy fail
float32 position_drift_rate_horizontal_m_s # Horizontal position rate magnitude (m/s)
float32 position_drift_rate_vertical_m_s # Vertical position rate magnitude (m/s)
float32 filtered_horizontal_speed_m_s # Filtered horizontal velocity magnitude (m/s)