From 6aeccf01ff47f87305e6f144c33c3afff8395d2b Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Mon, 8 Feb 2016 14:07:45 +1100 Subject: [PATCH] EKF: Add missing fusion health status messages --- EKF/common.h | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/EKF/common.h b/EKF/common.h index a2c8bfd946..9da43a3550 100644 --- a/EKF/common.h +++ b/EKF/common.h @@ -168,11 +168,15 @@ struct stateSample { }; struct fault_status_t { - bool bad_mag_x: 1; - bool bad_mag_y: 1; - bool bad_mag_z: 1; - bool bad_airspeed: 1; - bool bad_sideslip: 1; + bool bad_mag_x: 1; // true if the fusion of the magnetometer X-axis has encountered a numerical error + bool bad_mag_y: 1; // true if the fusion of the magnetometer Y-axis has encountered a numerical error + bool bad_mag_z: 1; // true if the fusion of the magnetometer Z-axis has encountered a numerical error + bool bad_mag_hdg: 1; // true if the fusion of the magnetic heading has encountered a numerical error + bool bad_mag_decl: 1; // true if the fusion of the magnetic declination has encountered a numerical error + bool bad_airspeed: 1; // true if fusion of the airspeed has encountered a numerical error + bool bad_sideslip: 1; // true if fusion of the synthetic sideslip constraint has encountered a numerical error + bool bad_optflow_X: 1; // true if fusion of the optical flow X axis has encountered a numerical error + bool bad_optflow_Y: 1; // true if fusion of the optical flow Y axis has encountered a numerical error }; // publish the status of various GPS quality checks