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ekf2: push preflight filtered innovation checks into backend

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- move flags to EstimatorStatusFlags and update commander HealthAndArmingChecks usage
This commit is contained in:
Daniel Agar
2022-12-21 19:25:52 -05:00
parent 03c0808ae6
commit d311060195
25 changed files with 569 additions and 1024 deletions
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msg/EstimatorStatus.msg
-6
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@@ -113,12 +113,6 @@ uint8 reset_count_quat # number of quaternion reset events (allow to wrap if c
float32 time_slip # cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time
bool pre_flt_fail_innov_heading
bool pre_flt_fail_innov_vel_horiz
bool pre_flt_fail_innov_vel_vert
bool pre_flt_fail_innov_height
bool pre_flt_fail_mag_field_disturbed
uint32 accel_device_id
uint32 gyro_device_id
uint32 baro_device_id
msg/EstimatorStatusFlags.msg
+7
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@@ -73,3 +73,10 @@ bool reject_sideslip # 9 - true if the synthetic sideslip
bool reject_hagl # 10 - true if the height above ground observation has been rejected
bool reject_optflow_x # 11 - true if the X optical flow observation has been rejected
bool reject_optflow_y # 12 - true if the Y optical flow observation has been rejected
# preflight failure checks
bool pre_flt_fail_innov_heading
bool pre_flt_fail_innov_vel_horiz
bool pre_flt_fail_innov_vel_vert
bool pre_flt_fail_innov_pos_horiz
bool pre_flt_fail_innov_height