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6306c78f79
Add EKF2_SENS_EN bitmask parameter (replaces EKF2_EN_BOOT) with per-sensor enable bits. initFusionControl reads SENS_EN while disarmed. handleSensorFusionCommand sets FusionSensor.enabled via VEHICLE_CMD_ESTIMATOR_SENSOR_ENABLE. syncSensEnParam writes back to param on disarm. Update EstimatorFusionControl.msg to bool intended/active fields. Update VehicleCommand.msg FUSION_SOURCE enum.
24 lines
547 B
Plaintext
24 lines
547 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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# sensor intended for fusion (enabled via EKF2_SENS_EN AND CTRL param != disabled)
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bool[2] gps_intended
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bool of_intended
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bool ev_intended
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bool[4] agp_intended
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bool baro_intended
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bool rng_intended
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bool mag_intended
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bool aspd_intended
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bool rngbcn_intended
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# whether the estimator is actively fusing data from each source
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bool[2] gps_active
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bool of_active
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bool ev_active
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bool[4] agp_active
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bool baro_active
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bool rng_active
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bool mag_active
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bool aspd_active
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bool rngbcn_active
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