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fix(ekf2): add missing in_transition flag

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bresch 2026-03-10 11:34:10 +01:00 committed by Mathieu Bresciani
parent acab9fdceb
commit cdcdd1096f
2 changed files with 2 additions and 0 deletions
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1
msg/EstimatorStatusFlags.msg
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@ -52,6 +52,7 @@ bool cs_gnss_vel # 44 - true if GNSS velocity measurement fusion
bool cs_gnss_fault # 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty
bool cs_yaw_manual # 46 - true if yaw has been set manually
bool cs_gnss_hgt_fault # 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty
bool cs_in_transition # 48 - true if the vehicle is in vtol transition
bool cs_heading_observable # 49 - true when heading is observable
# fault status

1
src/modules/ekf2/EKF2.cpp
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@ -1950,6 +1950,7 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
status_flags.cs_gnss_fault = _ekf.control_status_flags().gnss_fault;
status_flags.cs_yaw_manual = _ekf.control_status_flags().yaw_manual;
status_flags.cs_gnss_hgt_fault = _ekf.control_status_flags().gnss_hgt_fault;
status_flags.cs_in_transition = _ekf.control_status_flags().in_transition;
status_flags.cs_heading_observable = _ekf.control_status_flags().heading_observable;
status_flags.fault_status_changes = _filter_fault_status_changes;