ardupilot/libraries/AP_NavEKF/AP_Nav_Common.h

60 lines
3.7 KiB
C

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
AP_Nav_Common holds definitions shared by inertial and ekf nav filters
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef AP_Nav_Common
#define AP_Nav_Common
union nav_filter_status {
struct {
uint16_t attitude : 1; // 0 - true if attitude estimate is valid
uint16_t horiz_vel : 1; // 1 - true if horizontal velocity estimate is valid
uint16_t vert_vel : 1; // 2 - true if the vertical velocity estimate is valid
uint16_t horiz_pos_rel : 1; // 3 - true if the relative horizontal position estimate is valid
uint16_t horiz_pos_abs : 1; // 4 - true if the absolute horizontal position estimate is valid
uint16_t vert_pos : 1; // 5 - true if the vertical position estimate is valid
uint16_t terrain_alt : 1; // 6 - true if the terrain height estimate is valid
uint16_t const_pos_mode : 1; // 7 - true if we are in const position mode
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
uint16_t using_gps : 1; // 13 - true if we are using GPS position
uint16_t gps_glitching : 1; // 14 - true if the the GPS is glitching
} flags;
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)
uint16_t bad_fix : 1; // 8 - true if the GPS is not providing a 3D fix
uint16_t bad_horiz_vel : 1; // 9 - true if the GPS horizontal speed is excessive (this check assumes the vehicle is static)
} flags;
uint16_t value;
};
#endif // AP_Nav_Common