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EKF: Add missing fusion health status messages

This commit is contained in:
Paul Riseborough 2016-02-08 14:07:45 +11:00
parent a22886544d
commit 6aeccf01ff
1 changed files with 9 additions and 5 deletions
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14
EKF/common.h
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@ -168,11 +168,15 @@ struct stateSample {
};
struct fault_status_t {
bool bad_mag_x: 1;
bool bad_mag_y: 1;
bool bad_mag_z: 1;
bool bad_airspeed: 1;
bool bad_sideslip: 1;
bool bad_mag_x: 1; // true if the fusion of the magnetometer X-axis has encountered a numerical error
bool bad_mag_y: 1; // true if the fusion of the magnetometer Y-axis has encountered a numerical error
bool bad_mag_z: 1; // true if the fusion of the magnetometer Z-axis has encountered a numerical error
bool bad_mag_hdg: 1; // true if the fusion of the magnetic heading has encountered a numerical error
bool bad_mag_decl: 1; // true if the fusion of the magnetic declination has encountered a numerical error
bool bad_airspeed: 1; // true if fusion of the airspeed has encountered a numerical error
bool bad_sideslip: 1; // true if fusion of the synthetic sideslip constraint has encountered a numerical error
bool bad_optflow_X: 1; // true if fusion of the optical flow X axis has encountered a numerical error
bool bad_optflow_Y: 1; // true if fusion of the optical flow Y axis has encountered a numerical error
};
// publish the status of various GPS quality checks