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ekf2: added beta test ratio to estimator_status

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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
This commit is contained in:
CarlOlsson
2017-12-18 15:50:04 +01:00
committed by Lorenz Meier
parent 573fbeda04
commit 84d7eb2900
2 changed files with 2 additions and 1 deletions
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1
msg/estimator_status.msg
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@@ -86,6 +86,7 @@ float32 pos_test_ratio # ratio of the largest horizontal position innovation com
float32 hgt_test_ratio # ratio of the vertical position innovation to the innovation test limit float32 hgt_test_ratio # ratio of the vertical position innovation to the innovation test limit
float32 tas_test_ratio # ratio of the true airspeed innovation to the innovation test limit float32 tas_test_ratio # ratio of the true airspeed innovation to the innovation test limit
float32 hagl_test_ratio # ratio of the height above ground innovation to the innovation test limit float32 hagl_test_ratio # ratio of the height above ground innovation to the innovation test limit
float32 beta_test_ratio # ratio of the synthetic sideslip innovation to the innovation test limit
uint16 solution_status_flags # Bitmask indicating which filter kinematic state outputs are valid for flight control use. uint16 solution_status_flags # Bitmask indicating which filter kinematic state outputs are valid for flight control use.
# 0 - True if the attitude estimate is good # 0 - True if the attitude estimate is good

2
src/modules/ekf2/ekf2_main.cpp
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@@ -1095,7 +1095,7 @@ void Ekf2::run()
_ekf.get_innovation_test_status(&status.innovation_check_flags, &status.mag_test_ratio, _ekf.get_innovation_test_status(&status.innovation_check_flags, &status.mag_test_ratio,
&status.vel_test_ratio, &status.pos_test_ratio, &status.vel_test_ratio, &status.pos_test_ratio,
&status.hgt_test_ratio, &status.tas_test_ratio, &status.hgt_test_ratio, &status.tas_test_ratio,
&status.hagl_test_ratio); &status.hagl_test_ratio, &status.beta_test_ratio);
status.pos_horiz_accuracy = _vehicle_local_position_pub.get().eph; status.pos_horiz_accuracy = _vehicle_local_position_pub.get().eph;
status.pos_vert_accuracy = _vehicle_local_position_pub.get().epv; status.pos_vert_accuracy = _vehicle_local_position_pub.get().epv;