From 9efb1a59f2a248a6b50b542ff55a4ed0b8ff832c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 16 Mar 2017 12:17:46 +0100 Subject: [PATCH] msg: Add GPS check fail definitions to estimator_status --- msg/estimator_status.msg | 19 ++++++++++--------- 1 file changed, 10 insertions(+), 9 deletions(-) diff --git a/msg/estimator_status.msg b/msg/estimator_status.msg index 935f488e07..1db8099f47 100644 --- a/msg/estimator_status.msg +++ b/msg/estimator_status.msg @@ -10,15 +10,16 @@ uint8 timeout_flags # Bitmask to indicate timeout flags (vel, pos, hgt) float32[28] covariances # Diagonal Elements of Covariance Matrix uint16 gps_check_fail_flags # Bitmask to indicate status of GPS checks - see definition below # bits are true when corresponding test has failed -# 0 : minimum required sat count fail -# 1 : minimum required GDoP fail -# 2 : maximum allowed horizontal position error fail -# 3 : maximum allowed vertical position error fail -# 4 : maximum allowed speed error fail -# 5 : maximum allowed horizontal position drift fail -# 6 : maximum allowed vertical position drift fail -# 7 : maximum allowed horizontal speed fail -# 8 : maximum allowed vertical velocity discrepancy fail +uint8 GPS_CHECK_FAIL_MIN_SAT_COUNT = 0 # 0 : minimum required sat count fail +uint8 GPS_CHECK_FAIL_MIN_GDOP = 1 # 1 : minimum required GDoP fail +uint8 GPS_CHECK_FAIL_MAX_HORZ_ERR = 2 # 2 : maximum allowed horizontal position error fail +uint8 GPS_CHECK_FAIL_MAX_VERT_ERR = 3 # 3 : maximum allowed vertical position error fail +uint8 GPS_CHECK_FAIL_MAX_SPD_ERR = 4 # 4 : maximum allowed speed error fail +uint8 GPS_CHECK_FAIL_MAX_HORZ_DRIFT = 5 # 5 : maximum allowed horizontal position drift fail +uint8 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 6 # 6 : maximum allowed vertical position drift fail +uint8 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 7 # 7 : maximum allowed horizontal velocity discrepancy fail +uint8 GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 8 # 8 : maximum allowed vertical velocity discrepancy fail + uint16 control_mode_flags # Bitmask to indicate EKF logic state # 0 - true if the filter tilt alignment is complete # 1 - true if the filter yaw alignment is complete