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msg: add definitions for estimator status control mode bit positions

This commit is contained in:
Paul Riseborough 2018-05-09 08:15:41 +10:00 committed by Lorenz Meier
parent aee05d0ac5
commit e5d428bd65
1 changed files with 32 additions and 30 deletions
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62
msg/estimator_status.msg
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@ -13,38 +13,40 @@ 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_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
uint8 GPS_CHECK_FAIL_GPS_FIX = 0 # 0 : insufficient fix type (no 3D solution)
uint8 GPS_CHECK_FAIL_MIN_SAT_COUNT = 1 # 1 : minimum required sat count fail
uint8 GPS_CHECK_FAIL_MIN_GDOP = 2 # 2 : minimum required GDoP fail
uint8 GPS_CHECK_FAIL_MAX_HORZ_ERR = 3 # 3 : maximum allowed horizontal position error fail
uint8 GPS_CHECK_FAIL_MAX_VERT_ERR = 4 # 4 : maximum allowed vertical position error fail
uint8 GPS_CHECK_FAIL_MAX_SPD_ERR = 5 # 5 : maximum allowed speed error fail
uint8 GPS_CHECK_FAIL_MAX_HORZ_DRIFT = 6 # 6 : maximum allowed horizontal position drift fail - requires stationary vehicle
uint8 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 7 # 7 : maximum allowed vertical position drift fail - requires stationary vehicle
uint8 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 8 # 8 : maximum allowed horizontal speed fail - requires stationary vehicle
uint8 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
# 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 3-axis magnetometer measurement are being fused
# 6 - true if synthetic magnetic declination measurements are being fused
# 7 - true when the vehicle is airborne
# 8 - true when wind velocity is being estimated
# 9 - true when baro height is being fused as a primary height reference
# 10 - true when range finder height is being fused as a primary height reference
# 11 - true when GPS height is being fused as a primary height reference
# 12 - true when local position data from external vision is being fused
# 13 - true when yaw data from external vision measurements is being fused
# 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
uint8 CS_TILT_ALIGN = 0 # 0 - true if the filter tilt alignment is complete
uint8 CS_YAW_ALIGN = 1 # 1 - true if the filter yaw alignment is complete
uint8 CS_GPS = 2 # 2 - true if GPS measurements are being fused
uint8 CS_OPT_FLOW = 3 # 3 - true if optical flow measurements are being fused
uint8 CS_MAG_HDG = 4 # 4 - true if a simple magnetic yaw heading is being fused
uint8 CS_MAG_3D = 5 # 5 - true if 3-axis magnetometer measurement are being fused
uint8 CS_MAG_DEC = 6 # 6 - true if synthetic magnetic declination measurements are being fused
uint8 CS_IN_AIR = 7 # 7 - true when thought to be airborne
uint8 CS_WIND = 8 # 8 - true when wind velocity is being estimated
uint8 CS_BARO_HGT = 9 # 9 - true when baro height is being fused as a primary height reference
uint8 CS_RNG_HGT = 10 # 10 - true when range finder height is being fused as a primary height reference
uint8 CS_GPS_HGT = 11 # 11 - true when GPS height is being fused as a primary height reference
uint8 CS_EV_POS = 12 # 12 - true when local position data from external vision is being fused
uint8 CS_EV_YAW = 13 # 13 - true when yaw data from external vision measurements is being fused
uint8 CS_EV_HGT = 14 # 14 - true when height data from external vision measurements is being fused
uint8 CS_BETA = 15 # 15 - true when synthetic sideslip measurements are being fused
uint8 CS_MAG_FIELD = 16 # 16 - true when only the magnetic field states are updated by the magnetometer
uint8 CS_FIXED_WING = 17 # 17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip
uint8 CS_MAG_FAULT = 18 # 18 - true when the magnetomer has been declared faulty and is no longer being used
uint8 CS_ASPD = 19 # 19 - true when airspeed measurements are being fused
uint8 CS_GND_EFFECT = 20 # 20 - true when when protection from ground effect induced static pressure rise is active
uint8 CS_RNG_STUCK = 21 # 21 - true when a stuck range finder sensor has been detected
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