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ekf: add logging for rng kinematic consistency check

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bresch
2022-04-13 11:41:48 +02:00
committed by Mathieu Bresciani
parent 8693ad15a7
commit d903613c9c
4 changed files with 5 additions and 0 deletions
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msg/estimator_status_flags.msg
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@@ -35,6 +35,7 @@ bool cs_gps_yaw_fault # 27 - true when the GNSS heading has been declare
bool cs_rng_fault # 28 - true when the range finder has been declared faulty and is no longer being used
bool cs_inertial_dead_reckoning # 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift
bool cs_wind_dead_reckoning # 30 - true if we are navigationg reliant on wind relative measurements
bool cs_rng_kin_consistent # 31 - true when the range finder kinematic consistency check is passing
# fault status
uint32 fault_status_changes # number of filter fault status (fs) changes