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ekf2: move gnss_checks to their own class

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bresch
2025-06-03 09:22:32 +02:00
committed by Mathieu Bresciani
parent 2dbce4d958
commit c33d79cfb4
11 changed files with 261 additions and 121 deletions
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src/modules/ekf2/EKF/common.h
-18
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@@ -543,24 +543,6 @@ union innovation_fault_status_u {
uint16_t value;
};
// publish the status of various GPS quality checks
union gps_check_fail_status_u {
struct {
uint16_t fix : 1; ///< 0 - true if the fix type is insufficient (no 3D solution)
uint16_t nsats : 1; ///< 1 - true if number of satellites used is insufficient
uint16_t pdop : 1; ///< 2 - true if position dilution of precision is insufficient
uint16_t hacc : 1; ///< 3 - true if reported horizontal accuracy is insufficient
uint16_t vacc : 1; ///< 4 - true if reported vertical accuracy is insufficient
uint16_t sacc : 1; ///< 5 - true if reported speed accuracy is insufficient
uint16_t hdrift : 1; ///< 6 - true if horizontal drift is excessive (can only be used when stationary on ground)
uint16_t vdrift : 1; ///< 7 - true if vertical drift is excessive (can only be used when stationary on ground)
uint16_t hspeed : 1; ///< 8 - true if horizontal speed is excessive (can only be used when stationary on ground)
uint16_t vspeed : 1; ///< 9 - true if vertical speed error is excessive
uint16_t spoofed: 1; ///< 10 - true if the GNSS data is spoofed
} flags;
uint16_t value;
};
// bitmask containing filter control status
union filter_control_status_u {
struct {