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ekf2: remove warning events logging

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- some of these warning flags aren't even being used, and most of the rest we can figure out from other sources
This commit is contained in:
Daniel Agar
2024-07-10 10:43:55 -04:00
parent c29b4ff87e
commit 75bb339d94
9 changed files with 2 additions and 84 deletions
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src/modules/ekf2/EKF/common.h
-29
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@@ -666,34 +666,5 @@ bool reset_pos_to_ext_obs :
uint32_t value;
};
// define structure used to communicate information events
union warning_event_status_u {
struct {
bool gps_quality_poor : 1; ///< 0 - true when the gps is failing quality checks
bool gps_fusion_timout :
1; ///< 1 - true when the gps data has not been used to correct the state estimates for a significant time period
bool gps_data_stopped : 1; ///< 2 - true when the gps data has stopped for a significant time period
bool gps_data_stopped_using_alternate :
1; ///< 3 - true when the gps data has stopped for a significant time period but the filter is able to use other sources of data to maintain navigation
bool height_sensor_timeout :
1; ///< 4 - true when the height sensor has not been used to correct the state estimates for a significant time period
bool stopping_navigation :
1; ///< 5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation
bool invalid_accel_bias_cov_reset :
1; ///< 6 - true when the filter has detected bad acceerometer bias state estimates and has reset the corresponding covariance matrix elements
bool bad_yaw_using_gps_course :
1; ///< 7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course
bool stopping_mag_use :
1; ///< 8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetometer data
bool vision_data_stopped :
1; ///< 9 - true when the vision system data has stopped for a significant time period
bool emergency_yaw_reset_mag_stopped :
1; ///< 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetometer data
bool emergency_yaw_reset_gps_yaw_stopped:
1; ///< 11 - true when the filter has detected bad GNSS yaw data, has reset the yaw to anothter source of data and has stopped further use of the GNSS yaw data
} flags;
uint32_t value;
};
}
#endif // !EKF_COMMON_H