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ekf2: move fuseVelPosHeight() -> fuseDirectStateMeasurement()

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- don't bother keeping bad_vel_{N,E,D} and bad_pos_{N,E,D} fault status bits
This commit is contained in:
Daniel Agar 2024-02-14 20:46:28 -05:00
parent 021dd0d0af
commit c4c41c49e5
7 changed files with 60 additions and 145 deletions
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12
msg/EstimatorStatusFlags.msg
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@ -55,15 +55,9 @@ bool fs_bad_airspeed # 5 - true if fusion of the airspeed has encounte
bool fs_bad_sideslip # 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
bool fs_bad_optflow_x # 7 - true if fusion of the optical flow X axis has encountered a numerical error
bool fs_bad_optflow_y # 8 - true if fusion of the optical flow Y axis has encountered a numerical error
bool fs_bad_vel_n # 9 - true if fusion of the North velocity has encountered a numerical error
bool fs_bad_vel_e # 10 - true if fusion of the East velocity has encountered a numerical error
bool fs_bad_vel_d # 11 - true if fusion of the Down velocity has encountered a numerical error
bool fs_bad_pos_n # 12 - true if fusion of the North position has encountered a numerical error
bool fs_bad_pos_e # 13 - true if fusion of the East position has encountered a numerical error
bool fs_bad_pos_d # 14 - true if fusion of the Down position has encountered a numerical error
bool fs_bad_acc_bias # 15 - true if bad delta velocity bias estimates have been detected
bool fs_bad_acc_vertical # 16 - true if bad vertical accelerometer data has been detected
bool fs_bad_acc_clipping # 17 - true if delta velocity data contains clipping (asymmetric railing)
bool fs_bad_acc_bias # 9 - true if bad delta velocity bias estimates have been detected
bool fs_bad_acc_vertical # 10 - true if bad vertical accelerometer data has been detected
bool fs_bad_acc_clipping # 11 - true if delta velocity data contains clipping (asymmetric railing)
# innovation test failures