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ekf2: move synthetic_position flag to control_status.flags.fake_pos

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bresch
2022-09-10 12:29:29 -04:00
committed by Daniel Agar
parent 86f7e15f7a
commit aa716936bf
8 changed files with 48 additions and 46 deletions
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src/modules/ekf2/EKF/common.h
+34 -33
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@@ -500,40 +500,41 @@ union gps_check_fail_status_u {
// bitmask containing filter control status
union filter_control_status_u {
struct {
uint32_t tilt_align : 1; ///< 0 - true if the filter tilt alignment is complete
uint32_t yaw_align : 1; ///< 1 - true if the filter yaw alignment is complete
uint32_t gps : 1; ///< 2 - true if GPS measurement fusion is intended
uint32_t opt_flow : 1; ///< 3 - true if optical flow measurements fusion is intended
uint32_t mag_hdg : 1; ///< 4 - true if a simple magnetic yaw heading fusion is intended
uint32_t mag_3D : 1; ///< 5 - true if 3-axis magnetometer measurement fusion is intended
uint32_t mag_dec : 1; ///< 6 - true if synthetic magnetic declination measurements fusion is intended
uint32_t in_air : 1; ///< 7 - true when the vehicle is airborne
uint32_t wind : 1; ///< 8 - true when wind velocity is being estimated
uint32_t baro_hgt : 1; ///< 9 - true when baro height is being fused as a primary height reference
uint32_t rng_hgt : 1; ///< 10 - true when range finder height is being fused as a primary height reference
uint32_t gps_hgt : 1; ///< 11 - true when GPS height is being fused as a primary height reference
uint32_t ev_pos : 1; ///< 12 - true when local position data fusion from external vision is intended
uint32_t ev_yaw : 1; ///< 13 - true when yaw data from external vision measurements fusion is intended
uint32_t ev_hgt : 1; ///< 14 - true when height data from external vision measurements is being fused
uint32_t fuse_beta : 1; ///< 15 - true when synthetic sideslip measurements are being fused
uint32_t mag_field_disturbed : 1; ///< 16 - true when the mag field does not match the expected strength
uint32_t fixed_wing : 1; ///< 17 - true when the vehicle is operating as a fixed wing vehicle
uint32_t mag_fault : 1; ///< 18 - true when the magnetometer has been declared faulty and is no longer being used
uint32_t fuse_aspd : 1; ///< 19 - true when airspeed measurements are being fused
uint32_t gnd_effect : 1; ///< 20 - true when protection from ground effect induced static pressure rise is active
uint32_t rng_stuck : 1; ///< 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
uint32_t gps_yaw : 1; ///< 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended
uint32_t mag_aligned_in_flight : 1; ///< 23 - true when the in-flight mag field alignment has been completed
uint32_t ev_vel : 1; ///< 24 - true when local frame velocity data fusion from external vision measurements is intended
uint32_t synthetic_mag_z : 1; ///< 25 - true when we are using a synthesized measurement for the magnetometer Z component
uint32_t vehicle_at_rest : 1; ///< 26 - true when the vehicle is at rest
uint32_t gps_yaw_fault : 1; ///< 27 - true when the GNSS heading has been declared faulty and is no longer being used
uint32_t rng_fault : 1; ///< 28 - true when the range finder has been declared faulty and is no longer being used
uint32_t inertial_dead_reckoning : 1; ///< 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift
uint32_t wind_dead_reckoning : 1; ///< 30 - true if we are navigationg reliant on wind relative measurements
uint32_t rng_kin_consistent : 1; ///< 31 - true when the range finder kinematic consistency check is passing
uint64_t tilt_align : 1; ///< 0 - true if the filter tilt alignment is complete
uint64_t yaw_align : 1; ///< 1 - true if the filter yaw alignment is complete
uint64_t gps : 1; ///< 2 - true if GPS measurement fusion is intended
uint64_t opt_flow : 1; ///< 3 - true if optical flow measurements fusion is intended
uint64_t mag_hdg : 1; ///< 4 - true if a simple magnetic yaw heading fusion is intended
uint64_t mag_3D : 1; ///< 5 - true if 3-axis magnetometer measurement fusion is intended
uint64_t mag_dec : 1; ///< 6 - true if synthetic magnetic declination measurements fusion is intended
uint64_t in_air : 1; ///< 7 - true when the vehicle is airborne
uint64_t wind : 1; ///< 8 - true when wind velocity is being estimated
uint64_t baro_hgt : 1; ///< 9 - true when baro height is being fused as a primary height reference
uint64_t rng_hgt : 1; ///< 10 - true when range finder height is being fused as a primary height reference
uint64_t gps_hgt : 1; ///< 11 - true when GPS height is being fused as a primary height reference
uint64_t ev_pos : 1; ///< 12 - true when local position data fusion from external vision is intended
uint64_t ev_yaw : 1; ///< 13 - true when yaw data from external vision measurements fusion is intended
uint64_t ev_hgt : 1; ///< 14 - true when height data from external vision measurements is being fused
uint64_t fuse_beta : 1; ///< 15 - true when synthetic sideslip measurements are being fused
uint64_t mag_field_disturbed : 1; ///< 16 - true when the mag field does not match the expected strength
uint64_t fixed_wing : 1; ///< 17 - true when the vehicle is operating as a fixed wing vehicle
uint64_t mag_fault : 1; ///< 18 - true when the magnetometer has been declared faulty and is no longer being used
uint64_t fuse_aspd : 1; ///< 19 - true when airspeed measurements are being fused
uint64_t gnd_effect : 1; ///< 20 - true when protection from ground effect induced static pressure rise is active
uint64_t rng_stuck : 1; ///< 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
uint64_t gps_yaw : 1; ///< 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended
uint64_t mag_aligned_in_flight : 1; ///< 23 - true when the in-flight mag field alignment has been completed
uint64_t ev_vel : 1; ///< 24 - true when local frame velocity data fusion from external vision measurements is intended
uint64_t synthetic_mag_z : 1; ///< 25 - true when we are using a synthesized measurement for the magnetometer Z component
uint64_t vehicle_at_rest : 1; ///< 26 - true when the vehicle is at rest
uint64_t gps_yaw_fault : 1; ///< 27 - true when the GNSS heading has been declared faulty and is no longer being used
uint64_t rng_fault : 1; ///< 28 - true when the range finder has been declared faulty and is no longer being used
uint64_t inertial_dead_reckoning : 1; ///< 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift
uint64_t wind_dead_reckoning : 1; ///< 30 - true if we are navigationg reliant on wind relative measurements
uint64_t rng_kin_consistent : 1; ///< 31 - true when the range finder kinematic consistency check is passing
uint64_t fake_pos : 1; ///< 32 - true when fake position measurements are being fused
} flags;
uint32_t value;
uint64_t value;
};
// Mavlink bitmask containing state of estimator solution