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AP_NavEKF: Add takeoff and touchdown expected to reported filter status

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Paul Riseborough 2015-04-21 19:56:48 +10:00 committed by Randy Mackay
parent 8c92524b8a
commit 13616d6436
2 changed files with 4 additions and 0 deletions
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2
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -4731,6 +4731,8 @@ void NavEKF::getFilterStatus(nav_filter_status &status) const
status.flags.pred_horiz_pos_rel = (optFlowNavPossible || gpsNavPossible) && filterHealthy; // we should be able to estimate a relative position when we enter flight mode
status.flags.pred_horiz_pos_abs = gpsNavPossible && filterHealthy; // we should be able to estimate an absolute position when we enter flight mode
status.flags.takeoff_detected = takeOffDetected; // takeoff for optical flow navigation has been detected
status.flags.takeoff = takeoffExpected; // The EKF has been told to expect takeoff and is in a ground effect mitigation mode
status.flags.touchdown = touchdownExpected; // The EKF has been told to detect touchdown and is in a ground effect mitigation mode
}
// send an EKF_STATUS message to GCS

2
libraries/AP_NavEKF/AP_Nav_Common.h
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@ -32,6 +32,8 @@ union nav_filter_status {
uint16_t pred_horiz_pos_rel : 1; // 8 - true if filter expects it can produce a good relative horizontal position estimate - used before takeoff
uint16_t pred_horiz_pos_abs : 1; // 9 - true if filter expects it can produce a good absolute horizontal position estimate - used before takeoff
uint16_t takeoff_detected : 1; // 10 - true if optical flow takeoff has been detected
uint16_t takeoff : 1; // 11 - true if filter is compensating for baro errors during takeoff
uint16_t touchdown : 1; // 12 - true if filter is compensating for baro errors during touchdown
} flags;
uint16_t value;
};