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ekf2: add handling of filter internal fault message

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This commit is contained in:
Paul Riseborough
2016-05-09 09:40:02 +10:00
committed by Lorenz Meier
parent e8c34fa30e
commit af9a7a39f2
2 changed files with 2 additions and 1 deletions
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src/modules/ekf2/ekf2_main.cpp
+1
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@@ -732,6 +732,7 @@ void Ekf2::task_main()
_ekf.get_covariances(status.covariances);
_ekf.get_gps_check_status(&status.gps_check_fail_flags);
_ekf.get_control_mode(&status.control_mode_flags);
_ekf.get_filter_fault_status(&status.filter_fault_flags);
if (_estimator_status_pub == nullptr) {
_estimator_status_pub = orb_advertise(ORB_ID(estimator_status), &status);
src/modules/ekf2_replay/ekf2_replay_main.cpp
+1 -1
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@@ -518,7 +518,7 @@ void Ekf2Replay::logIfUpdated()
memcpy(&(log_message.body.est0.s), est_status.states, maxcopy0);
log_message.body.est0.n_states = est_status.n_states;
log_message.body.est0.nan_flags = est_status.nan_flags;
log_message.body.est0.health_flags = est_status.health_flags;
log_message.body.est0.fault_flags = est_status.filter_fault_flags;
log_message.body.est0.timeout_flags = est_status.timeout_flags;
writeMessage(_write_fd, (void *)&log_message.head1, _formats[LOG_EST0_MSG].length);