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ekf2: support heading external update from MAV_CMD_EXTERNAL_ATTITUDE_ESTIMATE

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bresch
2025-09-18 17:00:16 +02:00
committed by Mathieu Bresciani
parent eba0b99950
commit 82308da18d
10 changed files with 106 additions and 16 deletions
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msg/EstimatorStatus.msg
+1
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@@ -49,6 +49,7 @@ uint8 CS_GPS_YAW_FAULT = 27 # 27 - true when the GNSS heading has been declared
uint8 CS_RNG_FAULT = 28 # 28 - true when the range finder has been declared faulty and is no longer being used
uint8 CS_GNSS_VEL = 44 # 44 - true if GNSS velocity measurement fusion is intended
uint8 CS_GNSS_FAULT = 45 # 45 - true if GNSS measurements have been declared faulty and are no longer used
uint8 CS_YAW_MANUAL = 46 # 46 - true if yaw has been set manually
uint32 filter_fault_flags # Bitmask to indicate EKF internal faults
# 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
msg/EstimatorStatusFlags.msg
+1
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@@ -50,6 +50,7 @@ bool cs_constant_pos # 42 - true if the vehicle is at a constant posi
bool cs_baro_fault # 43 - true when the current baro has been declared faulty and is no longer being used
bool cs_gnss_vel # 44 - true if GNSS velocity measurement fusion is intended
bool cs_gnss_fault # 45 - true if GNSS measurements have been declared faulty and are no longer used
bool cs_yaw_manual # 46 - true if yaw has been set manually
# fault status
uint32 fault_status_changes # number of filter fault status (fs) changes
msg/versioned/VehicleCommand.msg
+1
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@@ -88,6 +88,7 @@ uint16 VEHICLE_CMD_REQUEST_CAMERA_INFORMATION = 521 # Request camera information
uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530 # Set camera capture mode (photo, video, etc.).
uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531 # Set camera zoom.
uint16 VEHICLE_CMD_SET_CAMERA_FOCUS = 532
uint16 VEHICLE_CMD_EXTERNAL_ATTITUDE_ESTIMATE = 620 # Set an external estimate of vehicle attitude in degrees.
uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000 # Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw.
uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1001 # Gimbal configuration to set which sysid/compid is in primary and secondary control.
uint16 VEHICLE_CMD_IMAGE_START_CAPTURE = 2000 # Start image capture sequence.