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msg: Add GPS check status to estimator_status uORB topic

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Paul Riseborough
2016-01-31 22:12:11 +01:00
committed by Roman
parent 8167f729ad
commit bfd182d12e
1 changed files with 11 additions and 0 deletions
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msg/estimator_status.msg
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@@ -5,3 +5,14 @@ uint8 nan_flags # Bitmask to indicate NaN states
uint8 health_flags # Bitmask to indicate sensor health states (vel, pos, hgt) uint8 health_flags # Bitmask to indicate sensor health states (vel, pos, hgt)
uint8 timeout_flags # Bitmask to indicate timeout flags (vel, pos, hgt) uint8 timeout_flags # Bitmask to indicate timeout flags (vel, pos, hgt)
float32[28] covariances # Diagonal Elements of Covariance Matrix 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