msgs/EstimatorStatus.msg rename mag_test_ratio -> hdg_test_ratio

- this is used for more than just mag

Tools/ecl_ekf/analysis/metrics.py

@@ -54,7 +54,7 @@ def calculate_sensor_metrics(
     # calculates peak, mean, percentage above 0.5 std, and percentage above std metrics for
     # estimator status variables
     for signal, result_id in [('hgt_test_ratio', 'hgt'),
-                              ('mag_test_ratio', 'mag'),
+                              ('hdg_test_ratio', 'mag'),
                               ('vel_test_ratio', 'vel'),
                               ('pos_test_ratio', 'pos'),
                               ('tas_test_ratio', 'tas'),

Tools/ecl_ekf/plotting/pdf_report.py

@@ -160,7 +160,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
 
         # plot normalised innovation test levels
         # define variables to plot
-        variables = [['mag_test_ratio'], ['vel_test_ratio', 'pos_test_ratio'], ['hgt_test_ratio']]
+        variables = [['hdg_test_ratio'], ['vel_test_ratio', 'pos_test_ratio'], ['hgt_test_ratio']]
         y_labels = ['mag', 'vel, pos', 'hgt']
         legend = [['mag'], ['vel', 'pos'], ['hgt']]
         if np.amax(estimator_status['hagl_test_ratio']) > 0.0:  # plot hagl test ratio, if applicable

msg/EstimatorStatus.msg

@@ -71,7 +71,7 @@ uint32 filter_fault_flags	# Bitmask to indicate EKF internal faults
 float32 pos_horiz_accuracy # 1-Sigma estimated horizontal position accuracy relative to the estimators origin (m)
 float32 pos_vert_accuracy # 1-Sigma estimated vertical position accuracy relative to the estimators origin (m)
 
-float32 mag_test_ratio # low-pass filtered ratio of the largest magnetometer innovation component to the innovation test limit
+float32 hdg_test_ratio # low-pass filtered ratio of the largest heading innovation component to the innovation test limit
 float32 vel_test_ratio # low-pass filtered ratio of the largest velocity innovation component to the innovation test limit
 float32 pos_test_ratio # low-pass filtered ratio of the largest horizontal position innovation component to the innovation test limit
 float32 hgt_test_ratio # low-pass filtered ratio of the vertical position innovation to the innovation test limit

src/drivers/ins/vectornav/VectorNav.cpp

@@ -368,7 +368,7 @@ void VectorNav::sensorCallback(VnUartPacket *packet)
 				test_ratio = 0.1f;
 			}
 
-			estimator_status.mag_test_ratio = test_ratio;
+			estimator_status.hdg_test_ratio = test_ratio;
 			estimator_status.vel_test_ratio = test_ratio;
 			estimator_status.pos_test_ratio = test_ratio;
 			estimator_status.hgt_test_ratio = test_ratio;

src/modules/airspeed_selector/AirspeedValidator.cpp

@@ -58,7 +58,7 @@ AirspeedValidator::update_airspeed_validator(const airspeed_validator_update_dat
 	update_in_fixed_wing_flight(input_data.in_fixed_wing_flight);
 	check_airspeed_data_stuck(input_data.timestamp);
 	check_load_factor(input_data.accel_z);
-	check_airspeed_innovation(input_data.timestamp, input_data.vel_test_ratio, input_data.mag_test_ratio,
+	check_airspeed_innovation(input_data.timestamp, input_data.vel_test_ratio, input_data.hdg_test_ratio,
 				  input_data.ground_velocity, input_data.gnss_valid);
 	check_first_principle(input_data.timestamp, input_data.fixed_wing_tecs_throttle,
 			      input_data.fixed_wing_tecs_throttle_trim, input_data.tecs_timestamp, input_data.q_att);
@@ -214,7 +214,7 @@ AirspeedValidator::check_airspeed_data_stuck(uint64_t time_now)
 
 void
 AirspeedValidator::check_airspeed_innovation(uint64_t time_now, float estimator_status_vel_test_ratio,
-		float estimator_status_mag_test_ratio, const matrix::Vector3f &vI, bool gnss_valid)
+		float estimator_status_hdg_test_ratio, const matrix::Vector3f &vI, bool gnss_valid)
 {
 	// Check normalised innovation levels with requirement for continuous data and use of hysteresis
 	// to prevent false triggering.
@@ -228,7 +228,7 @@ AirspeedValidator::check_airspeed_innovation(uint64_t time_now, float estimator_
 		_innovations_check_failed = false;
 		_aspd_innov_integ_state = 0.f;
 
-	} else if (!gnss_valid || estimator_status_vel_test_ratio > 1.f || estimator_status_mag_test_ratio > 1.f) {
+	} else if (!gnss_valid || estimator_status_vel_test_ratio > 1.f || estimator_status_hdg_test_ratio > 1.f) {
 		//nav velocity data is likely not good
 		//don't run the test but don't reset the check if it had previously failed when nav velocity data was still likely good
 		_aspd_innov_integ_state = 0.f;

src/modules/airspeed_selector/AirspeedValidator.hpp

@@ -66,7 +66,7 @@ struct airspeed_validator_update_data {
 	float air_temperature_celsius;
 	float accel_z;
 	float vel_test_ratio;
-	float mag_test_ratio;
+	float hdg_test_ratio;
 	bool in_fixed_wing_flight;
 	float fixed_wing_tecs_throttle;
 	float fixed_wing_tecs_throttle_trim;
@@ -213,7 +213,7 @@ private:
 	void update_CAS_TAS(float air_pressure_pa, float air_temperature_celsius);
 	void check_airspeed_data_stuck(uint64_t timestamp);
 	void check_airspeed_innovation(uint64_t timestamp, float estimator_status_vel_test_ratio,
-				       float estimator_status_mag_test_ratio, const matrix::Vector3f &vI, bool gnss_valid);
+				       float estimator_status_hdg_test_ratio, const matrix::Vector3f &vI, bool gnss_valid);
 	void check_load_factor(float accel_z);
 	void check_first_principle(const uint64_t timestamp, const float throttle, const float throttle_trim,
 				   const uint64_t tecs_timestamp, const Quatf &att_q);

src/modules/airspeed_selector/airspeed_selector_main.cpp

@@ -370,7 +370,7 @@ AirspeedModule::Run()
 		input_data.air_pressure_pa = _vehicle_air_data.baro_pressure_pa;
 		input_data.accel_z = _accel.xyz[2];
 		input_data.vel_test_ratio = _estimator_status.vel_test_ratio;
-		input_data.mag_test_ratio = _estimator_status.mag_test_ratio;
+		input_data.hdg_test_ratio = _estimator_status.hdg_test_ratio;
 		input_data.tecs_timestamp = _tecs_status.timestamp;
 		input_data.fixed_wing_tecs_throttle = _tecs_status.throttle_sp;
 		input_data.fixed_wing_tecs_throttle_trim = _tecs_status.throttle_trim;

src/modules/ekf2/EKF2.cpp

@@ -1796,7 +1796,7 @@ void EKF2::PublishStatus(const hrt_abstime &timestamp)
 		status.vel_test_ratio = NAN;
 	}
 
-	status.mag_test_ratio = _ekf.getHeadingInnovationTestRatio();
+	status.hdg_test_ratio = _ekf.getHeadingInnovationTestRatio();
 	status.pos_test_ratio = _ekf.getHorizontalPositionInnovationTestRatio();
 	status.hgt_test_ratio = _ekf.getVerticalPositionInnovationTestRatio();
 	status.tas_test_ratio = _ekf.getAirspeedInnovationTestRatio();
@@ -1816,7 +1816,7 @@ void EKF2::PublishStatus(const hrt_abstime &timestamp)
 	status.time_slip = _last_time_slip_us * 1e-6f;
 
 	static constexpr float kMinTestRatioPreflight = 0.5f;
-	status.pre_flt_fail_innov_heading   = (kMinTestRatioPreflight < status.mag_test_ratio);
+	status.pre_flt_fail_innov_heading   = (kMinTestRatioPreflight < status.hdg_test_ratio);
 	status.pre_flt_fail_innov_height    = (kMinTestRatioPreflight < status.hgt_test_ratio);
 	status.pre_flt_fail_innov_pos_horiz = (kMinTestRatioPreflight < status.pos_test_ratio);
 	status.pre_flt_fail_innov_vel_horiz = (kMinTestRatioPreflight < vel_xy_test_ratio);

src/modules/mavlink/streams/ESTIMATOR_STATUS.hpp

@@ -80,7 +80,7 @@ private:
 			est_msg.vel_ratio = est.vel_test_ratio;
 			est_msg.pos_horiz_ratio = est.pos_test_ratio;
 			est_msg.pos_vert_ratio = est.hgt_test_ratio;
-			est_msg.mag_ratio = est.mag_test_ratio;
+			est_msg.mag_ratio = est.hdg_test_ratio;
 			est_msg.hagl_ratio = est.hagl_test_ratio;
 			est_msg.tas_ratio = est.tas_test_ratio;
 			est_msg.pos_horiz_accuracy = est.pos_horiz_accuracy;