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ECL: Clean velPos logging, deprecate ekf2_innovations msg

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kamilritz
2019-12-05 11:29:29 +01:00
committed by Julian Kent
parent 22e4e85eeb
commit b73c80428e
24 changed files with 298 additions and 138 deletions
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Tools/ecl_ekf/analysis/post_processing.py
+22 -1
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@@ -42,6 +42,17 @@ def get_control_mode_flags(estimator_status: dict) -> dict:
# 12 - true when local position data from external vision is being fused
# 13 - true when yaw data from external vision measurements is being fused
# 14 - true when height data from external vision measurements is being fused
# 15 - true when synthetic sideslip measurements are being fused
# 16 - true true when the mag field does not match the expected strength
# 17 - true true when the vehicle is operating as a fixed wing vehicle
# 18 - true when the magnetometer has been declared faulty and is no longer being used
# 19 - true true when airspeed measurements are being fused
# 20 - true true when protection from ground effect induced static pressure rise is active
# 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
# 22 - true when yaw (not ground course) data from a GPS receiver is being fused
# 23 - true when the in-flight mag field alignment has been completed
# 24 - true when local earth frame velocity data from external vision measurements are being fused
# 25 - true when we are using a synthesized measurement for the magnetometer Z component
control_mode['tilt_aligned'] = ((2 ** 0 & estimator_status['control_mode_flags']) > 0) * 1
control_mode['yaw_aligned'] = ((2 ** 1 & estimator_status['control_mode_flags']) > 0) * 1
control_mode['using_gps'] = ((2 ** 2 & estimator_status['control_mode_flags']) > 0) * 1
@@ -57,9 +68,19 @@ def get_control_mode_flags(estimator_status: dict) -> dict:
control_mode['using_evpos'] = ((2 ** 12 & estimator_status['control_mode_flags']) > 0) * 1
control_mode['using_evyaw'] = ((2 ** 13 & estimator_status['control_mode_flags']) > 0) * 1
control_mode['using_evhgt'] = ((2 ** 14 & estimator_status['control_mode_flags']) > 0) * 1
control_mode['fuse_beta'] = ((2 ** 15 & estimator_status['control_mode_flags']) > 0) * 1
control_mode['mag_field_disturbed'] = ((2 ** 16 & estimator_status['control_mode_flags']) > 0) * 1
control_mode['fixed_wing'] = ((2 ** 17 & estimator_status['control_mode_flags']) > 0) * 1
control_mode['mag_fault'] = ((2 ** 18 & estimator_status['control_mode_flags']) > 0) * 1
control_mode['fuse_aspd'] = ((2 ** 19 & estimator_status['control_mode_flags']) > 0) * 1
control_mode['gnd_effect'] = ((2 ** 20 & estimator_status['control_mode_flags']) > 0) * 1
control_mode['rng_stuck'] = ((2 ** 21 & estimator_status['control_mode_flags']) > 0) * 1
control_mode['gps_yaw'] = ((2 ** 22 & estimator_status['control_mode_flags']) > 0) * 1
control_mode['mag_aligned_in_flight'] = ((2 ** 23 & estimator_status['control_mode_flags']) > 0) * 1
control_mode['ev_vel'] = ((2 ** 24 & estimator_status['control_mode_flags']) > 0) * 1
control_mode['synthetic_mag_z'] = ((2 ** 25 & estimator_status['control_mode_flags']) > 0) * 1
return control_mode
def get_innovation_check_flags(estimator_status: dict) -> dict:
"""
:param estimator_status: