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Update the Description of the estimator_status Message (#8346) 

* Fix description of GPS check fail bits in estimator status message
This commit is contained in:
Florian Achermann 2017-12-11 17:15:34 +01:00 committed by Daniel Agar
parent 86ad2ada71
commit 87646c4ea4
1 changed files with 14 additions and 9 deletions
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23
msg/estimator_status.msg
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@ -13,15 +13,16 @@ float32[24] covariances # Diagonal Elements of Covariance Matrix
uint16 gps_check_fail_flags # Bitmask to indicate status of GPS checks - see definition below
# bits are true when corresponding test has failed
uint16 GPS_CHECK_FAIL_MIN_SAT_COUNT = 0 # 0 : minimum required sat count fail
uint16 GPS_CHECK_FAIL_MIN_GDOP = 1 # 1 : minimum required GDoP fail
uint16 GPS_CHECK_FAIL_MAX_HORZ_ERR = 2 # 2 : maximum allowed horizontal position error fail
uint16 GPS_CHECK_FAIL_MAX_VERT_ERR = 3 # 3 : maximum allowed vertical position error fail
uint16 GPS_CHECK_FAIL_MAX_SPD_ERR = 4 # 4 : maximum allowed speed error fail
uint16 GPS_CHECK_FAIL_MAX_HORZ_DRIFT = 5 # 5 : maximum allowed horizontal position drift fail
uint16 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 6 # 6 : maximum allowed vertical position drift fail
uint16 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 7 # 7 : maximum allowed horizontal velocity discrepancy fail
uint16 GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 8 # 8 : maximum allowed vertical velocity discrepancy fail
uint16 GPS_CHECK_FAIL_GPS_FIX = 0 # 0 : insufficient fix type (no 3D solution)
uint16 GPS_CHECK_FAIL_MIN_SAT_COUNT = 1 # 1 : minimum required sat count fail
uint16 GPS_CHECK_FAIL_MIN_GDOP = 2 # 2 : minimum required GDoP fail
uint16 GPS_CHECK_FAIL_MAX_HORZ_ERR = 3 # 3 : maximum allowed horizontal position error fail
uint16 GPS_CHECK_FAIL_MAX_VERT_ERR = 4 # 4 : maximum allowed vertical position error fail
uint16 GPS_CHECK_FAIL_MAX_SPD_ERR = 5 # 5 : maximum allowed speed error fail
uint16 GPS_CHECK_FAIL_MAX_HORZ_DRIFT = 6 # 6 : maximum allowed horizontal position drift fail - requires stationary vehicle
uint16 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 7 # 7 : maximum allowed vertical position drift fail - requires stationary vehicle
uint16 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 8 # 8 : maximum allowed horizontal speed fail - requires stationary vehicle
uint16 GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 9 # 9 : maximum allowed vertical velocity discrepancy fail
uint32 control_mode_flags # Bitmask to indicate EKF logic state
# 0 - true if the filter tilt alignment is complete
@ -41,6 +42,9 @@ uint32 control_mode_flags # Bitmask to indicate EKF logic state
# 14 - true when height data from external vision measurements is being fused
# 15 - true when synthetic sideslip measurements are being fused
# 16 - true when only the magnetic field states are updated by the magnetometer
# 17 - true when the vehicle is operating as a fixed wing vehicle
# 18 - true when the magnetomer has been declared faulty and is no longer being used
# 19 - true when airspeed measurements are being fused
uint16 filter_fault_flags # Bitmask to indicate EKF internal faults
# 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
@ -95,6 +99,7 @@ uint16 solution_status_flags # Bitmask indicating which filter kinematic state o
# 8 - True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
# 9 - True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
# 10 - True if the EKF has detected a GPS glitch
# 11 - True if the EKF has detected bad accelerometer data
float32 time_slip # cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time