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ekf2: update to new ecl to fix fault status getter

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- estimator_status filter_fault_flags was broken because the union within ecl/EKF has exceeded 16 bits
This commit is contained in:
Daniel Agar
2020-12-10 12:45:41 -05:00
committed by GitHub
parent 72420dfff3
commit d44e537084
3 changed files with 13 additions and 20 deletions
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msg/estimator_status.msg
+3 -1
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@@ -47,7 +47,7 @@ uint8 CS_RNG_STUCK = 21 # 21 - true when a stuck range finder sensor has been d
uint8 CS_GPS_YAW = 22 # 22 - true when yaw (not ground course) data from a GPS receiver is being fused
uint8 CS_MAG_ALIGNED = 23 # 23 - true when the in-flight mag field alignment has been completed
uint16 filter_fault_flags # Bitmask to indicate EKF internal faults
uint32 filter_fault_flags # Bitmask to indicate EKF internal faults
# 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
# 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error
# 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error
@@ -64,6 +64,8 @@ uint16 filter_fault_flags # Bitmask to indicate EKF internal faults
# 13 - true if fusion of the East position has encountered a numerical error
# 14 - true if fusion of the Down position has encountered a numerical error
# 15 - true if bad delta velocity bias estimates have been detected
# 16 - true if bad vertical accelerometer data has been detected
# 17 - true if delta velocity data contains clipping (asymmetric railing)
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)