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msg: Add control mode data to estimator status

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Paul Riseborough 2016-04-16 13:02:47 +10:00 committed by Lorenz Meier
parent fce556e34c
commit ba5d608cad
1 changed files with 15 additions and 0 deletions
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15
msg/estimator_status.msg
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@ -17,3 +17,18 @@ uint16 gps_check_fail_flags # Bitmask to indicate status of GPS checks - see
# 6 : maximum allowed vertical position drift fail
# 7 : maximum allowed horizontal speed fail
# 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
# 2 - true if GPS measurements are being fused
# 3 - true if optical flow measurements are being fused
# 4 - true if a simple magnetic yaw heading is being fused
# 5 - true if the horizontal projection of magnetometer data is being fused
# 6 - true if 3-axis magnetometer measurement are being fused
# 7 - true if synthetic magnetic declination measurements are being fused
# 8 - true when the vehicle is airborne
# 9 - true when the vehicle motors are armed
# 10 - true when wind velocity is being estimated
# 11 - true when baro height is being fused as a primary height reference
# 12 - true when range finder height is being fused as a primary height reference
# 15 - true when range finder height is being fused as a primary height reference