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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
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Daniel Agar
2024-02-20 13:16:24 -05:00
parent 021dd0d0af
commit c4c41c49e5
7 changed files with 60 additions and 145 deletions
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src/modules/ekf2/EKF/common.h
+3 -9
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@@ -509,15 +509,9 @@ union fault_status_u {
bool bad_sideslip : 1; ///< 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
bool bad_optflow_X : 1; ///< 7 - true if fusion of the optical flow X axis has encountered a numerical error
bool bad_optflow_Y : 1; ///< 8 - true if fusion of the optical flow Y axis has encountered a numerical error
bool bad_vel_N : 1; ///< 9 - true if fusion of the North velocity has encountered a numerical error
bool bad_vel_E : 1; ///< 10 - true if fusion of the East velocity has encountered a numerical error
bool bad_vel_D : 1; ///< 11 - true if fusion of the Down velocity has encountered a numerical error
bool bad_pos_N : 1; ///< 12 - true if fusion of the North position has encountered a numerical error
bool bad_pos_E : 1; ///< 13 - true if fusion of the East position has encountered a numerical error
bool bad_pos_D : 1; ///< 14 - true if fusion of the Down position has encountered a numerical error
bool bad_acc_bias : 1; ///< 15 - true if bad delta velocity bias estimates have been detected
bool bad_acc_vertical : 1; ///< 16 - true if bad vertical accelerometer data has been detected
bool bad_acc_clipping : 1; ///< 17 - true if delta velocity data contains clipping (asymmetric railing)
bool bad_acc_bias : 1; ///< 9 - true if bad delta velocity bias estimates have been detected
bool bad_acc_vertical : 1; ///< 10 - true if bad vertical accelerometer data has been detected
bool bad_acc_clipping : 1; ///< 11 - true if delta velocity data contains clipping (asymmetric railing)
} flags;
uint32_t value;
};