From 87646c4ea4f075941555a7df1a133d4308dbd8a3 Mon Sep 17 00:00:00 2001 From: Florian Achermann Date: Mon, 11 Dec 2017 17:15:34 +0100 Subject: [PATCH] Update the Description of the estimator_status Message (#8346) * Fix description of GPS check fail bits in estimator status message --- msg/estimator_status.msg | 23 ++++++++++++++--------- 1 file changed, 14 insertions(+), 9 deletions(-) diff --git a/msg/estimator_status.msg b/msg/estimator_status.msg index c05738fb9a..74baecb28e 100644 --- a/msg/estimator_status.msg +++ b/msg/estimator_status.msg @@ -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