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ekf2: estimator aid source status (GPS pos, GPS vel)

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Daniel Agar
2022-05-23 16:21:49 -04:00
parent 1ae467e9cd
commit 639222dd65
16 changed files with 813 additions and 628 deletions
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src/modules/ekf2/EKF2.cpp
+8
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@@ -636,6 +636,10 @@ void EKF2::Run()
void EKF2::PublishAidSourceStatus(const hrt_abstime &timestamp)
{
// GNSS velocity & position
PublishAidSourceStatus(_ekf.aid_src_gnss_vel(), _status_gnss_vel_pub_last, _estimator_aid_src_gnss_vel_pub);
PublishAidSourceStatus(_ekf.aid_src_gnss_pos(), _status_gnss_pos_pub_last, _estimator_aid_src_gnss_pos_pub);
// fake position
PublishAidSourceStatus(_ekf.aid_src_fake_pos(), _status_fake_pos_pub_last, _estimator_aid_src_fake_pos_pub);
}
@@ -721,6 +725,10 @@ void EKF2::PublishEventFlags(const hrt_abstime &timestamp)
event_flags.starting_vision_vel_fusion = _ekf.information_event_flags().starting_vision_vel_fusion;
event_flags.starting_vision_yaw_fusion = _ekf.information_event_flags().starting_vision_yaw_fusion;
event_flags.yaw_aligned_to_imu_gps = _ekf.information_event_flags().yaw_aligned_to_imu_gps;
event_flags.reset_hgt_to_baro = _ekf.information_event_flags().reset_hgt_to_baro;
event_flags.reset_hgt_to_gps = _ekf.information_event_flags().reset_hgt_to_gps;
event_flags.reset_hgt_to_rng = _ekf.information_event_flags().reset_hgt_to_rng;
event_flags.reset_hgt_to_ev = _ekf.information_event_flags().reset_hgt_to_ev;
event_flags.warning_event_changes = _filter_warning_event_changes;
event_flags.gps_quality_poor = _ekf.warning_event_flags().gps_quality_poor;