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AP_NavEKF2: extend fusion fault reporting coverage

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Paul Riseborough 2016-05-10 16:00:36 +10:00 committed by Andrew Tridgell
parent 0982bd0b2b
commit 71b589c89c
4 changed files with 11 additions and 5 deletions
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2
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -962,7 +962,7 @@ void NavEKF2::setTouchdownExpected(bool val)
7 = badly conditioned synthetic sideslip fusion 7 = badly conditioned synthetic sideslip fusion
7 = filter is not initialised 7 = filter is not initialised
*/ */
void NavEKF2::getFilterFaults(int8_t instance, uint8_t &faults) void NavEKF2::getFilterFaults(int8_t instance, uint16_t &faults)
{ {
if (instance < 0 || instance >= num_cores) instance = primary; if (instance < 0 || instance >= num_cores) instance = primary;
if (core) { if (core) {

2
libraries/AP_NavEKF2/AP_NavEKF2.h
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@ -214,7 +214,7 @@ public:
7 = badly conditioned synthetic sideslip fusion 7 = badly conditioned synthetic sideslip fusion
7 = filter is not initialised 7 = filter is not initialised
*/ */
void getFilterFaults(int8_t instance, uint8_t &faults); void getFilterFaults(int8_t instance, uint16_t &faults);
/* /*
return filter timeout status as a bitmasked integer for the specified instance return filter timeout status as a bitmasked integer for the specified instance

4
libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
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@ -17,7 +17,7 @@ extern const AP_HAL::HAL& hal;
// Check basic filter health metrics and return a consolidated health status // Check basic filter health metrics and return a consolidated health status
bool NavEKF2_core::healthy(void) const bool NavEKF2_core::healthy(void) const
{ {
uint8_t faultInt; uint16_t faultInt;
getFilterFaults(faultInt); getFilterFaults(faultInt);
if (faultInt > 0) { if (faultInt > 0) {
return false; return false;
@ -409,7 +409,7 @@ return the filter fault status as a bitmasked integer
7 = badly conditioned synthetic sideslip fusion 7 = badly conditioned synthetic sideslip fusion
7 = filter is not initialised 7 = filter is not initialised
*/ */
void NavEKF2_core::getFilterFaults(uint8_t &faults) const void NavEKF2_core::getFilterFaults(uint16_t &faults) const
{ {
faults = (stateStruct.quat.is_nan()<<0 | faults = (stateStruct.quat.is_nan()<<0 |
stateStruct.velocity.is_nan()<<1 | stateStruct.velocity.is_nan()<<1 |

8
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -202,7 +202,7 @@ public:
7 = badly conditioned synthetic sideslip fusion 7 = badly conditioned synthetic sideslip fusion
7 = filter is not initialised 7 = filter is not initialised
*/ */
void getFilterFaults(uint8_t &faults) const; void getFilterFaults(uint16_t &faults) const;
/* /*
return filter timeout status as a bitmasked integer return filter timeout status as a bitmasked integer
@ -878,6 +878,12 @@ private:
bool bad_zmag:1; bool bad_zmag:1;
bool bad_airspeed:1; bool bad_airspeed:1;
bool bad_sideslip:1; bool bad_sideslip:1;
bool bad_nvel:1;
bool bad_evel:1;
bool bad_dvel:1;
bool bad_npos:1;
bool bad_epos:1;
bool bad_dpos:1;
} faultStatus; } faultStatus;
// flags indicating which GPS quality checks are failing // flags indicating which GPS quality checks are failing