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ekf2: move estimator_status test ratios to filtered values

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This commit is contained in:
Daniel Agar
2024-06-20 13:41:54 -04:00
parent e4fc3022f2
commit dcb1103299
9 changed files with 142 additions and 84 deletions
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msg/EstimatorStatus.msg
+7 -20
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@@ -69,27 +69,14 @@ uint32 filter_fault_flags # Bitmask to indicate EKF internal faults
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)
uint16 innovation_check_flags # Bitmask to indicate pass/fail status of innovation consistency checks
# 0 - true if velocity observations have been rejected
# 1 - true if horizontal position observations have been rejected
# 2 - true if true if vertical position observations have been rejected
# 3 - true if the X magnetometer observation has been rejected
# 4 - true if the Y magnetometer observation has been rejected
# 5 - true if the Z magnetometer observation has been rejected
# 6 - true if the yaw observation has been rejected
# 7 - true if the airspeed observation has been rejected
# 8 - true if the synthetic sideslip observation has been rejected
# 9 - true if the height above ground observation has been rejected
# 10 - true if the X optical flow observation has been rejected
# 11 - true if the Y optical flow observation has been rejected
float32 mag_test_ratio # ratio of the largest magnetometer innovation component to the innovation test limit
float32 vel_test_ratio # ratio of the largest velocity innovation component to the innovation test limit
float32 pos_test_ratio # ratio of the largest horizontal position innovation component to the innovation test limit
float32 hgt_test_ratio # ratio of the vertical position innovation to the innovation test limit
float32 tas_test_ratio # ratio of the true airspeed innovation to the innovation test limit
float32 hagl_test_ratio # ratio of the height above ground innovation to the innovation test limit
float32 beta_test_ratio # ratio of the synthetic sideslip innovation to the innovation test limit
float32 mag_test_ratio # low-pass filtered ratio of the largest magnetometer innovation component to the innovation test limit
float32 vel_test_ratio # low-pass filtered ratio of the largest velocity innovation component to the innovation test limit
float32 pos_test_ratio # low-pass filtered ratio of the largest horizontal position innovation component to the innovation test limit
float32 hgt_test_ratio # low-pass filtered ratio of the vertical position innovation to the innovation test limit
float32 tas_test_ratio # low-pass filtered ratio of the true airspeed innovation to the innovation test limit
float32 hagl_test_ratio # low-pass filtered ratio of the height above ground innovation to the innovation test limit
float32 beta_test_ratio # low-pass filtered ratio of the synthetic sideslip innovation to the innovation test limit
uint16 solution_status_flags # Bitmask indicating which filter kinematic state outputs are valid for flight control use.
# 0 - True if the attitude estimate is good