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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
2022-02-21 08:58:59 -05:00
parent f8d7574d3c
commit 591b7b6934
11 changed files with 93 additions and 83 deletions
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src/modules/ekf2/EKF/ekf.h
+5 -3
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@@ -246,9 +246,6 @@ public:
bool accel_bias_inhibited() const { return _accel_bias_inhibit[0] || _accel_bias_inhibit[1] || _accel_bias_inhibit[2]; }
// get GPS check status
void get_gps_check_status(uint16_t *val) const { *val = _gps_check_fail_status.value; }
const auto &state_reset_status() const { return _state_reset_status; }
// return the amount the local vertical position changed in the last reset and the number of reset events
@@ -311,6 +308,11 @@ public:
// set minimum continuous period without GPS fail required to mark a healthy GPS status
void set_min_required_gps_health_time(uint32_t time_us) { _min_gps_health_time_us = time_us; }
const gps_check_fail_status_u &gps_check_fail_status() const { return _gps_check_fail_status; }
const decltype(gps_check_fail_status_u::flags) &gps_check_fail_status_flags() const { return _gps_check_fail_status.flags; }
bool gps_checks_passed() const { return _gps_checks_passed; };
// get solution data from the EKF-GSF emergency yaw estimator
// returns false when data is not available
bool getDataEKFGSF(float *yaw_composite, float *yaw_variance, float yaw[N_MODELS_EKFGSF],