forked from Archive/PX4-Autopilot
msg: estimator_status_flags shorten fields
- previously this message exceeded the logger total field length (1500 bytes)
This commit is contained in:
Daniel Agar
GitHub
parent
04f9ada500
commit
abec2bd8df
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@ -3,60 +3,60 @@ uint64 timestamp_sample # the timestamp of the raw data (micro
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# filter control status
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uint32 control_status_changes # number of filter control status changes
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bool control_status_tilt_align # 0 - true if the filter tilt alignment is complete
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bool control_status_yaw_align # 1 - true if the filter yaw alignment is complete
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bool control_status_gps # 2 - true if GPS measurement fusion is intended
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bool control_status_opt_flow # 3 - true if optical flow measurements fusion is intended
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bool control_status_mag_hdg # 4 - true if a simple magnetic yaw heading fusion is intended
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bool control_status_mag_3d # 5 - true if 3-axis magnetometer measurement fusion is inteded
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bool control_status_mag_dec # 6 - true if synthetic magnetic declination measurements fusion is intended
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bool control_status_in_air # 7 - true when the vehicle is airborne
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bool control_status_wind # 8 - true when wind velocity is being estimated
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bool control_status_baro_hgt # 9 - true when baro height is being fused as a primary height reference
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bool control_status_rng_hgt # 10 - true when range finder height is being fused as a primary height reference
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bool control_status_gps_hgt # 11 - true when GPS height is being fused as a primary height reference
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bool control_status_ev_pos # 12 - true when local position data fusion from external vision is intended
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bool control_status_ev_yaw # 13 - true when yaw data from external vision measurements fusion is intended
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bool control_status_ev_hgt # 14 - true when height data from external vision measurements is being fused
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bool control_status_fuse_beta # 15 - true when synthetic sideslip measurements are being fused
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bool control_status_mag_field_disturbed # 16 - true when the mag field does not match the expected strength
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bool control_status_fixed_wing # 17 - true when the vehicle is operating as a fixed wing vehicle
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bool control_status_mag_fault # 18 - true when the magnetometer has been declared faulty and is no longer being used
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bool control_status_fuse_aspd # 19 - true when airspeed measurements are being fused
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bool control_status_gnd_effect # 20 - true when protection from ground effect induced static pressure rise is active
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bool control_status_rng_stuck # 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
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bool control_status_gps_yaw # 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended
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bool control_status_mag_aligned_in_flight # 23 - true when the in-flight mag field alignment has been completed
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bool control_status_ev_vel # 24 - true when local frame velocity data fusion from external vision measurements is intended
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bool control_status_synthetic_mag_z # 25 - true when we are using a synthesized measurement for the magnetometer Z component
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bool control_status_vehicle_at_rest # 26 - true when the vehicle is at rest
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uint32 control_status_changes # number of filter control status (cs) changes
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bool cs_tilt_align # 0 - true if the filter tilt alignment is complete
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bool cs_yaw_align # 1 - true if the filter yaw alignment is complete
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bool cs_gps # 2 - true if GPS measurement fusion is intended
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bool cs_opt_flow # 3 - true if optical flow measurements fusion is intended
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bool cs_mag_hdg # 4 - true if a simple magnetic yaw heading fusion is intended
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bool cs_mag_3d # 5 - true if 3-axis magnetometer measurement fusion is inteded
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bool cs_mag_dec # 6 - true if synthetic magnetic declination measurements fusion is intended
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bool cs_in_air # 7 - true when the vehicle is airborne
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bool cs_wind # 8 - true when wind velocity is being estimated
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bool cs_baro_hgt # 9 - true when baro height is being fused as a primary height reference
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bool cs_rng_hgt # 10 - true when range finder height is being fused as a primary height reference
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bool cs_gps_hgt # 11 - true when GPS height is being fused as a primary height reference
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bool cs_ev_pos # 12 - true when local position data fusion from external vision is intended
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bool cs_ev_yaw # 13 - true when yaw data from external vision measurements fusion is intended
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bool cs_ev_hgt # 14 - true when height data from external vision measurements is being fused
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bool cs_fuse_beta # 15 - true when synthetic sideslip measurements are being fused
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bool cs_mag_field_disturbed # 16 - true when the mag field does not match the expected strength
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bool cs_fixed_wing # 17 - true when the vehicle is operating as a fixed wing vehicle
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bool cs_mag_fault # 18 - true when the magnetometer has been declared faulty and is no longer being used
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bool cs_fuse_aspd # 19 - true when airspeed measurements are being fused
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bool cs_gnd_effect # 20 - true when protection from ground effect induced static pressure rise is active
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bool cs_rng_stuck # 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
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bool cs_gps_yaw # 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended
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bool cs_mag_aligned_in_flight # 23 - true when the in-flight mag field alignment has been completed
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bool cs_ev_vel # 24 - true when local frame velocity data fusion from external vision measurements is intended
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bool cs_synthetic_mag_z # 25 - true when we are using a synthesized measurement for the magnetometer Z component
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bool cs_vehicle_at_rest # 26 - true when the vehicle is at rest
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# fault status
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uint32 fault_status_changes # number of filter fault status changes
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bool fault_status_bad_mag_x # 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
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bool fault_status_bad_mag_y # 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error
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bool fault_status_bad_mag_z # 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error
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bool fault_status_bad_hdg # 3 - true if the fusion of the heading angle has encountered a numerical error
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bool fault_status_bad_mag_decl # 4 - true if the fusion of the magnetic declination has encountered a numerical error
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bool fault_status_bad_airspeed # 5 - true if fusion of the airspeed has encountered a numerical error
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bool fault_status_bad_sideslip # 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
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bool fault_status_bad_optflow_x # 7 - true if fusion of the optical flow X axis has encountered a numerical error
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bool fault_status_bad_optflow_y # 8 - true if fusion of the optical flow Y axis has encountered a numerical error
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bool fault_status_bad_vel_n # 9 - true if fusion of the North velocity has encountered a numerical error
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bool fault_status_bad_vel_e # 10 - true if fusion of the East velocity has encountered a numerical error
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bool fault_status_bad_vel_d # 11 - true if fusion of the Down velocity has encountered a numerical error
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bool fault_status_bad_pos_n # 12 - true if fusion of the North position has encountered a numerical error
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bool fault_status_bad_pos_e # 13 - true if fusion of the East position has encountered a numerical error
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bool fault_status_bad_pos_d # 14 - true if fusion of the Down position has encountered a numerical error
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bool fault_status_bad_acc_bias # 15 - true if bad delta velocity bias estimates have been detected
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bool fault_status_bad_acc_vertical # 16 - true if bad vertical accelerometer data has been detected
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bool fault_status_bad_acc_clipping # 17 - true if delta velocity data contains clipping (asymmetric railing)
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uint32 fault_status_changes # number of filter fault status (fs) changes
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bool fs_bad_mag_x # 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
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bool fs_bad_mag_y # 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error
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bool fs_bad_mag_z # 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error
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bool fs_bad_hdg # 3 - true if the fusion of the heading angle has encountered a numerical error
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bool fs_bad_mag_decl # 4 - true if the fusion of the magnetic declination has encountered a numerical error
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bool fs_bad_airspeed # 5 - true if fusion of the airspeed has encountered a numerical error
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bool fs_bad_sideslip # 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
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bool fs_bad_optflow_x # 7 - true if fusion of the optical flow X axis has encountered a numerical error
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bool fs_bad_optflow_y # 8 - true if fusion of the optical flow Y axis has encountered a numerical error
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bool fs_bad_vel_n # 9 - true if fusion of the North velocity has encountered a numerical error
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bool fs_bad_vel_e # 10 - true if fusion of the East velocity has encountered a numerical error
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bool fs_bad_vel_d # 11 - true if fusion of the Down velocity has encountered a numerical error
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bool fs_bad_pos_n # 12 - true if fusion of the North position has encountered a numerical error
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bool fs_bad_pos_e # 13 - true if fusion of the East position has encountered a numerical error
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bool fs_bad_pos_d # 14 - true if fusion of the Down position has encountered a numerical error
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bool fs_bad_acc_bias # 15 - true if bad delta velocity bias estimates have been detected
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bool fs_bad_acc_vertical # 16 - true if bad vertical accelerometer data has been detected
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bool fs_bad_acc_clipping # 17 - true if delta velocity data contains clipping (asymmetric railing)
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# innovation test failures
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uint32 innovation_fault_status_changes # number of filter fault status changes
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uint32 innovation_fault_status_changes # number of innovation fault status (reject) changes
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bool reject_hor_vel # 0 - true if horizontal velocity observations have been rejected
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bool reject_ver_vel # 1 - true if vertical velocity observations have been rejected
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bool reject_hor_pos # 2 - true if horizontal position observations have been rejected
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@ -996,69 +996,69 @@ void EKF2::PublishStatusFlags(const hrt_abstime ×tamp)
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estimator_status_flags_s status_flags{};
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status_flags.timestamp_sample = timestamp;
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status_flags.control_status_changes = _filter_control_status_changes;
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status_flags.control_status_tilt_align = _ekf.control_status_flags().tilt_align;
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status_flags.control_status_yaw_align = _ekf.control_status_flags().yaw_align;
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status_flags.control_status_gps = _ekf.control_status_flags().gps;
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status_flags.control_status_opt_flow = _ekf.control_status_flags().opt_flow;
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status_flags.control_status_mag_hdg = _ekf.control_status_flags().mag_hdg;
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status_flags.control_status_mag_3d = _ekf.control_status_flags().mag_3D;
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status_flags.control_status_mag_dec = _ekf.control_status_flags().mag_dec;
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status_flags.control_status_in_air = _ekf.control_status_flags().in_air;
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status_flags.control_status_wind = _ekf.control_status_flags().wind;
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status_flags.control_status_baro_hgt = _ekf.control_status_flags().baro_hgt;
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status_flags.control_status_rng_hgt = _ekf.control_status_flags().rng_hgt;
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status_flags.control_status_gps_hgt = _ekf.control_status_flags().gps_hgt;
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status_flags.control_status_ev_pos = _ekf.control_status_flags().ev_pos;
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status_flags.control_status_ev_yaw = _ekf.control_status_flags().ev_yaw;
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status_flags.control_status_ev_hgt = _ekf.control_status_flags().ev_hgt;
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status_flags.control_status_fuse_beta = _ekf.control_status_flags().fuse_beta;
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status_flags.control_status_mag_field_disturbed = _ekf.control_status_flags().mag_field_disturbed;
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status_flags.control_status_fixed_wing = _ekf.control_status_flags().fixed_wing;
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status_flags.control_status_mag_fault = _ekf.control_status_flags().mag_fault;
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status_flags.control_status_fuse_aspd = _ekf.control_status_flags().fuse_aspd;
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status_flags.control_status_gnd_effect = _ekf.control_status_flags().gnd_effect;
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status_flags.control_status_rng_stuck = _ekf.control_status_flags().rng_stuck;
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status_flags.control_status_gps_yaw = _ekf.control_status_flags().gps_yaw;
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status_flags.control_status_mag_aligned_in_flight = _ekf.control_status_flags().mag_aligned_in_flight;
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status_flags.control_status_ev_vel = _ekf.control_status_flags().ev_vel;
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status_flags.control_status_synthetic_mag_z = _ekf.control_status_flags().synthetic_mag_z;
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status_flags.control_status_vehicle_at_rest = _ekf.control_status_flags().vehicle_at_rest;
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status_flags.control_status_changes = _filter_control_status_changes;
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status_flags.cs_tilt_align = _ekf.control_status_flags().tilt_align;
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status_flags.cs_yaw_align = _ekf.control_status_flags().yaw_align;
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status_flags.cs_gps = _ekf.control_status_flags().gps;
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status_flags.cs_opt_flow = _ekf.control_status_flags().opt_flow;
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status_flags.cs_mag_hdg = _ekf.control_status_flags().mag_hdg;
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status_flags.cs_mag_3d = _ekf.control_status_flags().mag_3D;
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status_flags.cs_mag_dec = _ekf.control_status_flags().mag_dec;
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status_flags.cs_in_air = _ekf.control_status_flags().in_air;
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status_flags.cs_wind = _ekf.control_status_flags().wind;
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status_flags.cs_baro_hgt = _ekf.control_status_flags().baro_hgt;
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status_flags.cs_rng_hgt = _ekf.control_status_flags().rng_hgt;
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status_flags.cs_gps_hgt = _ekf.control_status_flags().gps_hgt;
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status_flags.cs_ev_pos = _ekf.control_status_flags().ev_pos;
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status_flags.cs_ev_yaw = _ekf.control_status_flags().ev_yaw;
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status_flags.cs_ev_hgt = _ekf.control_status_flags().ev_hgt;
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status_flags.cs_fuse_beta = _ekf.control_status_flags().fuse_beta;
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status_flags.cs_mag_field_disturbed = _ekf.control_status_flags().mag_field_disturbed;
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status_flags.cs_fixed_wing = _ekf.control_status_flags().fixed_wing;
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status_flags.cs_mag_fault = _ekf.control_status_flags().mag_fault;
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status_flags.cs_fuse_aspd = _ekf.control_status_flags().fuse_aspd;
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status_flags.cs_gnd_effect = _ekf.control_status_flags().gnd_effect;
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status_flags.cs_rng_stuck = _ekf.control_status_flags().rng_stuck;
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status_flags.cs_gps_yaw = _ekf.control_status_flags().gps_yaw;
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status_flags.cs_mag_aligned_in_flight = _ekf.control_status_flags().mag_aligned_in_flight;
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status_flags.cs_ev_vel = _ekf.control_status_flags().ev_vel;
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status_flags.cs_synthetic_mag_z = _ekf.control_status_flags().synthetic_mag_z;
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status_flags.cs_vehicle_at_rest = _ekf.control_status_flags().vehicle_at_rest;
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status_flags.fault_status_changes = _filter_fault_status_changes;
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status_flags.fault_status_bad_mag_x = _ekf.fault_status_flags().bad_mag_x;
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status_flags.fault_status_bad_mag_y = _ekf.fault_status_flags().bad_mag_y;
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status_flags.fault_status_bad_mag_z = _ekf.fault_status_flags().bad_mag_z;
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status_flags.fault_status_bad_hdg = _ekf.fault_status_flags().bad_hdg;
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status_flags.fault_status_bad_mag_decl = _ekf.fault_status_flags().bad_mag_decl;
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status_flags.fault_status_bad_airspeed = _ekf.fault_status_flags().bad_airspeed;
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status_flags.fault_status_bad_sideslip = _ekf.fault_status_flags().bad_sideslip;
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status_flags.fault_status_bad_optflow_x = _ekf.fault_status_flags().bad_optflow_X;
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status_flags.fault_status_bad_optflow_y = _ekf.fault_status_flags().bad_optflow_Y;
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status_flags.fault_status_bad_vel_n = _ekf.fault_status_flags().bad_vel_N;
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status_flags.fault_status_bad_vel_e = _ekf.fault_status_flags().bad_vel_E;
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status_flags.fault_status_bad_vel_d = _ekf.fault_status_flags().bad_vel_D;
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status_flags.fault_status_bad_pos_n = _ekf.fault_status_flags().bad_pos_N;
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status_flags.fault_status_bad_pos_e = _ekf.fault_status_flags().bad_pos_E;
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status_flags.fault_status_bad_pos_d = _ekf.fault_status_flags().bad_pos_D;
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status_flags.fault_status_bad_acc_bias = _ekf.fault_status_flags().bad_acc_bias;
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status_flags.fault_status_bad_acc_vertical = _ekf.fault_status_flags().bad_acc_vertical;
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status_flags.fault_status_bad_acc_clipping = _ekf.fault_status_flags().bad_acc_clipping;
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status_flags.fault_status_changes = _filter_fault_status_changes;
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status_flags.fs_bad_mag_x = _ekf.fault_status_flags().bad_mag_x;
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status_flags.fs_bad_mag_y = _ekf.fault_status_flags().bad_mag_y;
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status_flags.fs_bad_mag_z = _ekf.fault_status_flags().bad_mag_z;
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status_flags.fs_bad_hdg = _ekf.fault_status_flags().bad_hdg;
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status_flags.fs_bad_mag_decl = _ekf.fault_status_flags().bad_mag_decl;
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status_flags.fs_bad_airspeed = _ekf.fault_status_flags().bad_airspeed;
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status_flags.fs_bad_sideslip = _ekf.fault_status_flags().bad_sideslip;
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status_flags.fs_bad_optflow_x = _ekf.fault_status_flags().bad_optflow_X;
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status_flags.fs_bad_optflow_y = _ekf.fault_status_flags().bad_optflow_Y;
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status_flags.fs_bad_vel_n = _ekf.fault_status_flags().bad_vel_N;
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status_flags.fs_bad_vel_e = _ekf.fault_status_flags().bad_vel_E;
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status_flags.fs_bad_vel_d = _ekf.fault_status_flags().bad_vel_D;
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status_flags.fs_bad_pos_n = _ekf.fault_status_flags().bad_pos_N;
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status_flags.fs_bad_pos_e = _ekf.fault_status_flags().bad_pos_E;
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status_flags.fs_bad_pos_d = _ekf.fault_status_flags().bad_pos_D;
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status_flags.fs_bad_acc_bias = _ekf.fault_status_flags().bad_acc_bias;
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status_flags.fs_bad_acc_vertical = _ekf.fault_status_flags().bad_acc_vertical;
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status_flags.fs_bad_acc_clipping = _ekf.fault_status_flags().bad_acc_clipping;
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status_flags.innovation_fault_status_changes = _innov_check_fail_status_changes;
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status_flags.reject_hor_vel = _ekf.innov_check_fail_status_flags().reject_hor_vel;
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status_flags.reject_ver_vel = _ekf.innov_check_fail_status_flags().reject_ver_vel;
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status_flags.reject_hor_pos = _ekf.innov_check_fail_status_flags().reject_hor_pos;
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status_flags.reject_ver_pos = _ekf.innov_check_fail_status_flags().reject_ver_pos;
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status_flags.reject_mag_x = _ekf.innov_check_fail_status_flags().reject_mag_x;
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status_flags.reject_mag_y = _ekf.innov_check_fail_status_flags().reject_mag_y;
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status_flags.reject_mag_z = _ekf.innov_check_fail_status_flags().reject_mag_z;
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status_flags.reject_yaw = _ekf.innov_check_fail_status_flags().reject_yaw;
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status_flags.reject_airspeed = _ekf.innov_check_fail_status_flags().reject_airspeed;
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status_flags.reject_sideslip = _ekf.innov_check_fail_status_flags().reject_sideslip;
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status_flags.reject_hagl = _ekf.innov_check_fail_status_flags().reject_hagl;
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status_flags.reject_optflow_x = _ekf.innov_check_fail_status_flags().reject_optflow_X;
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status_flags.reject_optflow_y = _ekf.innov_check_fail_status_flags().reject_optflow_Y;
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status_flags.innovation_fault_status_changes = _innov_check_fail_status_changes;
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status_flags.reject_hor_vel = _ekf.innov_check_fail_status_flags().reject_hor_vel;
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status_flags.reject_ver_vel = _ekf.innov_check_fail_status_flags().reject_ver_vel;
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status_flags.reject_hor_pos = _ekf.innov_check_fail_status_flags().reject_hor_pos;
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status_flags.reject_ver_pos = _ekf.innov_check_fail_status_flags().reject_ver_pos;
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status_flags.reject_mag_x = _ekf.innov_check_fail_status_flags().reject_mag_x;
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status_flags.reject_mag_y = _ekf.innov_check_fail_status_flags().reject_mag_y;
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status_flags.reject_mag_z = _ekf.innov_check_fail_status_flags().reject_mag_z;
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status_flags.reject_yaw = _ekf.innov_check_fail_status_flags().reject_yaw;
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status_flags.reject_airspeed = _ekf.innov_check_fail_status_flags().reject_airspeed;
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status_flags.reject_sideslip = _ekf.innov_check_fail_status_flags().reject_sideslip;
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status_flags.reject_hagl = _ekf.innov_check_fail_status_flags().reject_hagl;
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status_flags.reject_optflow_x = _ekf.innov_check_fail_status_flags().reject_optflow_X;
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status_flags.reject_optflow_y = _ekf.innov_check_fail_status_flags().reject_optflow_Y;
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status_flags.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
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_estimator_status_flags_pub.publish(status_flags);
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