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ekf2: move estimator_status test ratios to filtered values

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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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src/modules/ekf2/EKF/ekf.h
+11 -7
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@@ -383,13 +383,17 @@ public:
*counter = _state_reset_status.reset_count.quat;
}
// get EKF innovation consistency check status information comprising of:
// status - a bitmask integer containing the pass/fail status for each EKF measurement innovation consistency check
// Innovation Test Ratios - these are the ratio of the innovation to the acceptance threshold.
// A value > 1 indicates that the sensor measurement has exceeded the maximum acceptable level and has been rejected by the EKF
// Where a measurement type is a vector quantity, eg magnetometer, GPS position, etc, the maximum value is returned.
void get_innovation_test_status(uint16_t &status, float &mag, float &vel, float &pos, float &hgt, float &tas,
float &hagl, float &beta) const;
float getHeadingInnovationTestRatio() const;
float getVelocityInnovationTestRatio() const;
float getHorizontalPositionInnovationTestRatio() const;
float getVerticalPositionInnovationTestRatio() const;
float getAirspeedInnovationTestRatio() const;
float getSyntheticSideslipInnovationTestRatio() const;
float getHeightAboveGroundInnovationTestRatio() const;
// return a bitmask integer that describes which state estimates are valid
void get_ekf_soln_status(uint16_t *status) const;