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commander: move estimator checks to arming check

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This commit is contained in:
Beat Küng
2022-09-01 17:07:23 -04:00
committed by Daniel Agar
parent cfe3d793bf
commit f17f38197d
9 changed files with 428 additions and 359 deletions
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msg/vehicle_status_flags.msg
+2 -6
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@@ -7,6 +7,7 @@ uint64 timestamp # time since system start (microseconds)
uint32 mode_req_angular_velocity
uint32 mode_req_attitude
uint32 mode_req_local_position
uint32 mode_req_local_position_relaxed
uint32 mode_req_global_position
uint32 mode_req_local_alt
uint32 mode_req_mission
@@ -23,6 +24,7 @@ bool angular_velocity_valid
bool attitude_valid
bool local_altitude_valid
bool local_position_valid # set to true by the commander app if the quality of the local position estimate is good enough to use for navigation
bool local_position_valid_relaxed # Local position with reduced accuracy requirements (e.g. flying with optical flow)
bool local_velocity_valid # set to true by the commander app if the quality of the local horizontal velocity data is good enough to use for navigation
bool global_position_valid # set to true by the commander app if the quality of the global position estimate is good enough to use for navigation
bool gps_position_valid
@@ -30,12 +32,6 @@ bool home_position_valid # indicates a valid home position (a valid home positi
bool escs_error # set to true if one or more ESCs reporting esc_status are offline
bool escs_failure # set to true if one or more ESCs reporting esc_status has a failure
bool position_reliant_on_gps
bool position_reliant_on_optical_flow
bool position_reliant_on_vision_position
bool dead_reckoning
bool offboard_control_signal_lost
bool rc_signal_found_once