Update the Description of the estimator_status Message #8346
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| 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) |
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This is a fix for a bug that has been present for a long time (PX4/PX4-ECL@466a104534e5b687e26cf8a). It affects the preflight checks: instead of GPS_CHECK_FAIL_GPS_FIX (due to the wrong indexes), now GPS_CHECK_FAIL_MAX_VERT_ERR is checked. @priseborough please check that this is the intended behavior.
msg/estimator_status.msg
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| @@ -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 airspedd measurements are being fused | |||
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Looks good to me.
@priseborough could you give it another pass?
msg/estimator_status.msg
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| 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 | ||
| uint16 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 7 # 7 : maximum allowed vertical position drift fail | ||
| uint16 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 8 # 8 : maximum allowed horizontal velocity discrepancy fail |
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This is a horizontal speed check requiring stationary vehicle, not a horizontal velocity discrepancy check. See https://github.com/PX4/ecl/blob/master/EKF/common.h#L406
Change description to 'maximum allowed horizontal speed fail - requires stationary vehicle'
msg/estimator_status.msg
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| 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 | ||
| uint16 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 7 # 7 : maximum allowed vertical position drift fail |
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Change to 'maximum allowed vertical position drift fail - requires stationary vehicle'
msg/estimator_status.msg
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| 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 |
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Change to 'maximum allowed horizontal position drift fail - requires stationary vehicle'
Update the description of the estimator_status message based on the definitions in the ekf2 library.