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GCS_MAVLink: add EKF_STATUS_REPORT message to xml

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Randy Mackay 2015-03-10 15:38:07 +09:00
parent 07fd31c724
commit d464344c34
1 changed files with 27 additions and 0 deletions
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27
libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
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@ -122,6 +122,21 @@
<entry name="LED_CONTROL_PATTERN_CUSTOM" value="255"> <description>Custom Pattern using custom bytes fields</description></entry>
</enum>
<!-- EKF_STATUS_FLAGS - these values should be bit-and with the messages flags field to know if flag has been set -->
<enum name="EKF_STATUS_FLAGS">
<description>Flags in EKF_STATUS message</description>
<entry name="EKF_ATTITUDE" value="1"> <description>set if EKF's attitude estimate is good</description></entry>
<entry name="EKF_VELOCITY_HORIZ" value="2"> <description>set if EKF's horizontal velocity estimate is good</description></entry>
<entry name="EKF_VELOCITY_VERT" value="4"> <description>set if EKF's vertical velocity estimate is good</description></entry>
<entry name="EKF_POS_HORIZ_REL" value="8"> <description>set if EKF's horizontal position (relative) estimate is good</description></entry>
<entry name="EKF_POS_HORIZ_ABS" value="16"> <description>set if EKF's horizontal position (absolute) estimate is good</description></entry>
<entry name="EKF_POS_VERT_ABS" value="32"> <description>set if EKF's vertical position (absolute) estimate is good</description></entry>
<entry name="EKF_POS_VERT_AGL" value="64"> <description>set if EKF's vertical position (above ground) estimate is good</description></entry>
<entry name="EKF_CONST_POS_MODE" value="128"> <description>EKF is in constant position mode and does not know it's absolute or relative position</description></entry>
<entry name="EKF_PRED_POS_HORIZ_REL" value="256"> <description>set if EKF's predicted horizontal position (relative) estimate is good</description></entry>
<entry name="EKF_PRED_POS_HORIZ_ABS" value="512"> <description>set if EKF's predicted horizontal position (absolute) estimate is good</description></entry>
</enum>
</enums>
<messages>
@ -534,5 +549,17 @@
<!-- 191 to 192 RESERVED for mag calibration -->
<!-- EKF status message from autopilot to GCS. -->
<message name="EKF_STATUS_REPORT" id="193">
<description>EKF Status message including flags and variances</description>
<field name="flags" type="uint16_t">Flags</field> <!-- supported flags see EKF_STATUS_FLAGS enum -->
<field name="velocity_variance" type="float">Velocity variance</field> <!-- below 0.5 is good, 0.5~0.79 is warning, 0.8 or higher is bad -->
<field name="pos_horiz_variance" type="float">Horizontal Position variance</field>
<field name="pos_vert_variance" type="float">Vertical Position variance</field>
<field name="compass_variance" type="float">Compass variance</field>
<field name="terrain_alt_variance" type="float">Terrain Altitude variance</field>
</message>
</messages>
</mavlink>