fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 10:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: add new estimator_gps_status.msg

Browse Source 
- 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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/estimator_interface.h
+9 -8
View File
@@ -245,17 +245,20 @@ public:
// Getter for the average EKF update period in s
float get_dt_ekf_avg() const { return _dt_ekf_avg; }
// Getter for the imu sample on the delayed time horizon
// Getters for samples on the delayed time horizon
const imuSample &get_imu_sample_delayed() const { return _imu_sample_delayed; }
// Getter for the baro sample on the delayed time horizon
const baroSample &get_baro_sample_delayed() const { return _baro_sample_delayed; }
const gpsSample &get_gps_sample_delayed() const { return _gps_sample_delayed; }
const bool &global_origin_valid() const { return _NED_origin_initialised; }
const MapProjection &global_origin() const { return _pos_ref; }
void print_status();
float gps_horizontal_position_drift_rate_m_s() const { return _gps_horizontal_position_drift_rate_m_s; }
float gps_vertical_position_drift_rate_m_s() const { return _gps_vertical_position_drift_rate_m_s; }
float gps_filtered_horizontal_velocity_m_s() const { return _gps_filtered_horizontal_velocity_m_s; }
protected:
EstimatorInterface() = default;
@@ -346,14 +349,12 @@ protected:
bool _deadreckon_time_exceeded{true}; // true if the horizontal nav solution has been deadreckoning for too long and is invalid
bool _is_wind_dead_reckoning{false}; // true if we are navigationg reliant on wind relative measurements
float _gps_drift_metrics[3] {}; // Array containing GPS drift metrics
// [0] Horizontal position drift rate (m/s)
// [1] Vertical position drift rate (m/s)
// [2] Filtered horizontal velocity (m/s)
float _gps_horizontal_position_drift_rate_m_s{0}; // Horizontal position drift rate (m/s)
float _gps_vertical_position_drift_rate_m_s{0}; // Vertical position drift rate (m/s)
float _gps_filtered_horizontal_velocity_m_s{0}; // Filtered horizontal velocity (m/s)
uint64_t _time_last_on_ground_us{0}; ///< last time we were on the ground (uSec)
uint64_t _time_last_in_air{0}; ///< last time we were in air (uSec)
bool _gps_drift_updated{false}; // true when _gps_drift_metrics has been updated and is ready for retrieval
// data buffer instances
RingBuffer<imuSample> _imu_buffer{12}; // buffer length 12 with default parameters