mirror of https://github.com/ArduPilot/ardupilot
76 lines
4.2 KiB
C
76 lines
4.2 KiB
C
/*
|
|
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/>.
|
|
*/
|
|
#pragma once
|
|
|
|
union nav_filter_status {
|
|
struct {
|
|
bool attitude : 1; // 0 - true if attitude estimate is valid
|
|
bool horiz_vel : 1; // 1 - true if horizontal velocity estimate is valid
|
|
bool vert_vel : 1; // 2 - true if the vertical velocity estimate is valid
|
|
bool horiz_pos_rel : 1; // 3 - true if the relative horizontal position estimate is valid
|
|
bool horiz_pos_abs : 1; // 4 - true if the absolute horizontal position estimate is valid
|
|
bool vert_pos : 1; // 5 - true if the vertical position estimate is valid
|
|
bool terrain_alt : 1; // 6 - true if the terrain height estimate is valid
|
|
bool const_pos_mode : 1; // 7 - true if we are in const position mode
|
|
bool pred_horiz_pos_rel : 1; // 8 - true if filter expects it can produce a good relative horizontal position estimate - used before takeoff
|
|
bool pred_horiz_pos_abs : 1; // 9 - true if filter expects it can produce a good absolute horizontal position estimate - used before takeoff
|
|
bool takeoff_detected : 1; // 10 - true if optical flow takeoff has been detected
|
|
bool takeoff : 1; // 11 - true if filter is compensating for baro errors during takeoff
|
|
bool touchdown : 1; // 12 - true if filter is compensating for baro errors during touchdown
|
|
bool using_gps : 1; // 13 - true if we are using GPS position
|
|
bool gps_glitching : 1; // 14 - true if GPS glitching is affecting navigation accuracy
|
|
bool gps_quality_good : 1; // 15 - true if we can use GPS for navigation
|
|
} flags;
|
|
uint16_t value;
|
|
};
|
|
|
|
static_assert(sizeof(uint16_t) == sizeof(nav_filter_status), "nav_filter_status must be uint16_t");
|
|
|
|
union nav_gps_status {
|
|
struct {
|
|
bool bad_sAcc : 1; // 0 - true if reported gps speed accuracy is insufficient to start using GPS
|
|
bool bad_hAcc : 1; // 1 - true if reported gps horizontal position accuracy is insufficient to start using GPS
|
|
bool bad_yaw : 1; // 2 - true if EKF yaw errors are too large to start using GPS
|
|
bool bad_sats : 1; // 3 - true if the number of satellites is insufficient to start using GPS
|
|
bool bad_VZ : 1; // 4 - true if the vertical velocity is inconsistent with the inertial/baro
|
|
bool bad_horiz_drift : 1; // 5 - true if the GPS horizontal position is drifting (this check assumes vehicle is static)
|
|
bool bad_hdop : 1; // 6 - true if the reported HDoP is insufficient to start using GPS
|
|
bool bad_vert_vel : 1; // 7 - true if the GPS vertical speed is too large to start using GPS (this check assumes vehicle is static)
|
|
bool bad_fix : 1; // 8 - true if the GPS is not providing a 3D fix
|
|
bool bad_horiz_vel : 1; // 9 - true if the GPS horizontal speed is excessive (this check assumes the vehicle is static)
|
|
bool bad_vAcc : 1; // 10 - true if reported gps vertical position accuracy is insufficient to start using GPS
|
|
} flags;
|
|
uint16_t value;
|
|
};
|
|
|
|
static_assert(sizeof(uint16_t) == sizeof(nav_gps_status), "nav_gps_status must be uint16_t");
|
|
|
|
/*
|
|
structure to hold EKF timing statistics
|
|
*/
|
|
struct ekf_timing {
|
|
uint32_t count;
|
|
float dtIMUavg_min;
|
|
float dtIMUavg_max;
|
|
float dtEKFavg_min;
|
|
float dtEKFavg_max;
|
|
float delAngDT_max;
|
|
float delAngDT_min;
|
|
float delVelDT_max;
|
|
float delVelDT_min;
|
|
};
|