From cdcdd1096fb9c06ad2e6f4b886374b392e140a87 Mon Sep 17 00:00:00 2001 From: bresch Date: Tue, 10 Mar 2026 11:34:10 +0100 Subject: [PATCH] fix(ekf2): add missing in_transition flag --- msg/EstimatorStatusFlags.msg | 1 + src/modules/ekf2/EKF2.cpp | 1 + 2 files changed, 2 insertions(+) diff --git a/msg/EstimatorStatusFlags.msg b/msg/EstimatorStatusFlags.msg index 1351be504a..632ed2315b 100644 --- a/msg/EstimatorStatusFlags.msg +++ b/msg/EstimatorStatusFlags.msg @@ -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 diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp index 2bb9063867..af230797ec 100644 --- a/src/modules/ekf2/EKF2.cpp +++ b/src/modules/ekf2/EKF2.cpp @@ -1950,6 +1950,7 @@ void EKF2::PublishStatusFlags(const hrt_abstime ×tamp) 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;