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AP_NavEKF: Define a structure for reporting of GPS checks

This commit is contained in:
Paul Riseborough 2015-10-07 17:33:12 -07:00 committed by Randy Mackay
parent 1cb2220107
commit d0080b66cd
1 changed files with 14 additions and 0 deletions
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14
libraries/AP_NavEKF/AP_Nav_Common.h
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@ -40,4 +40,18 @@ union nav_filter_status {
uint16_t value;
};
union nav_gps_status {
struct {
uint16_t bad_sAcc : 1; // 0 - true if reported gps speed accuracy is insufficient to start using GPS
uint16_t bad_hAcc : 1; // 1 - true if reported gps horizontal position accuracy is insufficient to start using GPS
uint16_t bad_yaw : 1; // 2 - true if EKF yaw errors are too large to start using GPS
uint16_t bad_sats : 1; // 3 - true if the number of satellites is insufficient to start using GPS
uint16_t bad_VZ : 1; // 4 - true if the vertical velocity is inconsistent with the inertial/baro
uint16_t bad_horiz_drift : 1; // 5 - true if the GPS horizontal position is drifting (this check assumes vehicle is static)
uint16_t bad_hdop : 1; // 6 - true if the reported HDoP is insufficient to start using GPS
uint16_t bad_vert_vel : 1; // 7 - true if the GPS vertical speed is too large to start using GPS (this check assumes vehicle is static)
} flags;
uint16_t value;
};
#endif // AP_Nav_Common