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msg: Add GPS check fail definitions to estimator_status

This commit is contained in:
Lorenz Meier 2017-03-16 12:17:46 +01:00
parent e9a3eca751
commit 9efb1a59f2
1 changed files with 10 additions and 9 deletions
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19
msg/estimator_status.msg
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@ -10,15 +10,16 @@ uint8 timeout_flags # Bitmask to indicate timeout flags (vel, pos, hgt)
float32[28] 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
# 0 : minimum required sat count fail
# 1 : minimum required GDoP fail
# 2 : maximum allowed horizontal position error fail
# 3 : maximum allowed vertical position error fail
# 4 : maximum allowed speed error fail
# 5 : maximum allowed horizontal position drift fail
# 6 : maximum allowed vertical position drift fail
# 7 : maximum allowed horizontal speed fail
# 8 : maximum allowed vertical velocity discrepancy fail
uint8 GPS_CHECK_FAIL_MIN_SAT_COUNT = 0 # 0 : minimum required sat count fail
uint8 GPS_CHECK_FAIL_MIN_GDOP = 1 # 1 : minimum required GDoP fail
uint8 GPS_CHECK_FAIL_MAX_HORZ_ERR = 2 # 2 : maximum allowed horizontal position error fail
uint8 GPS_CHECK_FAIL_MAX_VERT_ERR = 3 # 3 : maximum allowed vertical position error fail
uint8 GPS_CHECK_FAIL_MAX_SPD_ERR = 4 # 4 : maximum allowed speed error fail
uint8 GPS_CHECK_FAIL_MAX_HORZ_DRIFT = 5 # 5 : maximum allowed horizontal position drift fail
uint8 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 6 # 6 : maximum allowed vertical position drift fail
uint8 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 7 # 7 : maximum allowed horizontal velocity discrepancy fail
uint8 GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 8 # 8 : maximum allowed vertical velocity discrepancy fail
uint16 control_mode_flags # Bitmask to indicate EKF logic state
# 0 - true if the filter tilt alignment is complete
# 1 - true if the filter yaw alignment is complete