yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 09:22:18 +00:00
Code Issues Packages Projects Releases Wiki Activity

msg: estimator_status_flags shorten fields

Browse Source 
- previously this message exceeded the logger total field length (1500 bytes)
This commit is contained in:
Daniel Agar
2021-01-11 11:49:51 -05:00
committed by GitHub
parent 04f9ada500
commit abec2bd8df
2 changed files with 109 additions and 109 deletions
Download Patch File Download Diff File Expand all files Collapse all files

122
src/modules/ekf2/EKF2.cpp
View File

@@ -996,69 +996,69 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
estimator_status_flags_s status_flags{};
status_flags.timestamp_sample = timestamp;
status_flags.control_status_changes = _filter_control_status_changes;
status_flags.control_status_tilt_align = _ekf.control_status_flags().tilt_align;
status_flags.control_status_yaw_align = _ekf.control_status_flags().yaw_align;
status_flags.control_status_gps = _ekf.control_status_flags().gps;
status_flags.control_status_opt_flow = _ekf.control_status_flags().opt_flow;
status_flags.control_status_mag_hdg = _ekf.control_status_flags().mag_hdg;
status_flags.control_status_mag_3d = _ekf.control_status_flags().mag_3D;
status_flags.control_status_mag_dec = _ekf.control_status_flags().mag_dec;
status_flags.control_status_in_air = _ekf.control_status_flags().in_air;
status_flags.control_status_wind = _ekf.control_status_flags().wind;
status_flags.control_status_baro_hgt = _ekf.control_status_flags().baro_hgt;
status_flags.control_status_rng_hgt = _ekf.control_status_flags().rng_hgt;
status_flags.control_status_gps_hgt = _ekf.control_status_flags().gps_hgt;
status_flags.control_status_ev_pos = _ekf.control_status_flags().ev_pos;
status_flags.control_status_ev_yaw = _ekf.control_status_flags().ev_yaw;
status_flags.control_status_ev_hgt = _ekf.control_status_flags().ev_hgt;
status_flags.control_status_fuse_beta = _ekf.control_status_flags().fuse_beta;
status_flags.control_status_mag_field_disturbed = _ekf.control_status_flags().mag_field_disturbed;
status_flags.control_status_fixed_wing = _ekf.control_status_flags().fixed_wing;
status_flags.control_status_mag_fault = _ekf.control_status_flags().mag_fault;
status_flags.control_status_fuse_aspd = _ekf.control_status_flags().fuse_aspd;
status_flags.control_status_gnd_effect = _ekf.control_status_flags().gnd_effect;
status_flags.control_status_rng_stuck = _ekf.control_status_flags().rng_stuck;
status_flags.control_status_gps_yaw = _ekf.control_status_flags().gps_yaw;
status_flags.control_status_mag_aligned_in_flight = _ekf.control_status_flags().mag_aligned_in_flight;
status_flags.control_status_ev_vel = _ekf.control_status_flags().ev_vel;
status_flags.control_status_synthetic_mag_z = _ekf.control_status_flags().synthetic_mag_z;
status_flags.control_status_vehicle_at_rest = _ekf.control_status_flags().vehicle_at_rest;
status_flags.control_status_changes = _filter_control_status_changes;
status_flags.cs_tilt_align = _ekf.control_status_flags().tilt_align;
status_flags.cs_yaw_align = _ekf.control_status_flags().yaw_align;
status_flags.cs_gps = _ekf.control_status_flags().gps;
status_flags.cs_opt_flow = _ekf.control_status_flags().opt_flow;
status_flags.cs_mag_hdg = _ekf.control_status_flags().mag_hdg;
status_flags.cs_mag_3d = _ekf.control_status_flags().mag_3D;
status_flags.cs_mag_dec = _ekf.control_status_flags().mag_dec;
status_flags.cs_in_air = _ekf.control_status_flags().in_air;
status_flags.cs_wind = _ekf.control_status_flags().wind;
status_flags.cs_baro_hgt = _ekf.control_status_flags().baro_hgt;
status_flags.cs_rng_hgt = _ekf.control_status_flags().rng_hgt;
status_flags.cs_gps_hgt = _ekf.control_status_flags().gps_hgt;
status_flags.cs_ev_pos = _ekf.control_status_flags().ev_pos;
status_flags.cs_ev_yaw = _ekf.control_status_flags().ev_yaw;
status_flags.cs_ev_hgt = _ekf.control_status_flags().ev_hgt;
status_flags.cs_fuse_beta = _ekf.control_status_flags().fuse_beta;
status_flags.cs_mag_field_disturbed = _ekf.control_status_flags().mag_field_disturbed;
status_flags.cs_fixed_wing = _ekf.control_status_flags().fixed_wing;
status_flags.cs_mag_fault = _ekf.control_status_flags().mag_fault;
status_flags.cs_fuse_aspd = _ekf.control_status_flags().fuse_aspd;
status_flags.cs_gnd_effect = _ekf.control_status_flags().gnd_effect;
status_flags.cs_rng_stuck = _ekf.control_status_flags().rng_stuck;
status_flags.cs_gps_yaw = _ekf.control_status_flags().gps_yaw;
status_flags.cs_mag_aligned_in_flight = _ekf.control_status_flags().mag_aligned_in_flight;
status_flags.cs_ev_vel = _ekf.control_status_flags().ev_vel;
status_flags.cs_synthetic_mag_z = _ekf.control_status_flags().synthetic_mag_z;
status_flags.cs_vehicle_at_rest = _ekf.control_status_flags().vehicle_at_rest;
status_flags.fault_status_changes = _filter_fault_status_changes;
status_flags.fault_status_bad_mag_x = _ekf.fault_status_flags().bad_mag_x;
status_flags.fault_status_bad_mag_y = _ekf.fault_status_flags().bad_mag_y;
status_flags.fault_status_bad_mag_z = _ekf.fault_status_flags().bad_mag_z;
status_flags.fault_status_bad_hdg = _ekf.fault_status_flags().bad_hdg;
status_flags.fault_status_bad_mag_decl = _ekf.fault_status_flags().bad_mag_decl;
status_flags.fault_status_bad_airspeed = _ekf.fault_status_flags().bad_airspeed;
status_flags.fault_status_bad_sideslip = _ekf.fault_status_flags().bad_sideslip;
status_flags.fault_status_bad_optflow_x = _ekf.fault_status_flags().bad_optflow_X;
status_flags.fault_status_bad_optflow_y = _ekf.fault_status_flags().bad_optflow_Y;
status_flags.fault_status_bad_vel_n = _ekf.fault_status_flags().bad_vel_N;
status_flags.fault_status_bad_vel_e = _ekf.fault_status_flags().bad_vel_E;
status_flags.fault_status_bad_vel_d = _ekf.fault_status_flags().bad_vel_D;
status_flags.fault_status_bad_pos_n = _ekf.fault_status_flags().bad_pos_N;
status_flags.fault_status_bad_pos_e = _ekf.fault_status_flags().bad_pos_E;
status_flags.fault_status_bad_pos_d = _ekf.fault_status_flags().bad_pos_D;
status_flags.fault_status_bad_acc_bias = _ekf.fault_status_flags().bad_acc_bias;
status_flags.fault_status_bad_acc_vertical = _ekf.fault_status_flags().bad_acc_vertical;
status_flags.fault_status_bad_acc_clipping = _ekf.fault_status_flags().bad_acc_clipping;
status_flags.fault_status_changes = _filter_fault_status_changes;
status_flags.fs_bad_mag_x = _ekf.fault_status_flags().bad_mag_x;
status_flags.fs_bad_mag_y = _ekf.fault_status_flags().bad_mag_y;
status_flags.fs_bad_mag_z = _ekf.fault_status_flags().bad_mag_z;
status_flags.fs_bad_hdg = _ekf.fault_status_flags().bad_hdg;
status_flags.fs_bad_mag_decl = _ekf.fault_status_flags().bad_mag_decl;
status_flags.fs_bad_airspeed = _ekf.fault_status_flags().bad_airspeed;
status_flags.fs_bad_sideslip = _ekf.fault_status_flags().bad_sideslip;
status_flags.fs_bad_optflow_x = _ekf.fault_status_flags().bad_optflow_X;
status_flags.fs_bad_optflow_y = _ekf.fault_status_flags().bad_optflow_Y;
status_flags.fs_bad_vel_n = _ekf.fault_status_flags().bad_vel_N;
status_flags.fs_bad_vel_e = _ekf.fault_status_flags().bad_vel_E;
status_flags.fs_bad_vel_d = _ekf.fault_status_flags().bad_vel_D;
status_flags.fs_bad_pos_n = _ekf.fault_status_flags().bad_pos_N;
status_flags.fs_bad_pos_e = _ekf.fault_status_flags().bad_pos_E;
status_flags.fs_bad_pos_d = _ekf.fault_status_flags().bad_pos_D;
status_flags.fs_bad_acc_bias = _ekf.fault_status_flags().bad_acc_bias;
status_flags.fs_bad_acc_vertical = _ekf.fault_status_flags().bad_acc_vertical;
status_flags.fs_bad_acc_clipping = _ekf.fault_status_flags().bad_acc_clipping;
status_flags.innovation_fault_status_changes = _innov_check_fail_status_changes;
status_flags.reject_hor_vel = _ekf.innov_check_fail_status_flags().reject_hor_vel;
status_flags.reject_ver_vel = _ekf.innov_check_fail_status_flags().reject_ver_vel;
status_flags.reject_hor_pos = _ekf.innov_check_fail_status_flags().reject_hor_pos;
status_flags.reject_ver_pos = _ekf.innov_check_fail_status_flags().reject_ver_pos;
status_flags.reject_mag_x = _ekf.innov_check_fail_status_flags().reject_mag_x;
status_flags.reject_mag_y = _ekf.innov_check_fail_status_flags().reject_mag_y;
status_flags.reject_mag_z = _ekf.innov_check_fail_status_flags().reject_mag_z;
status_flags.reject_yaw = _ekf.innov_check_fail_status_flags().reject_yaw;
status_flags.reject_airspeed = _ekf.innov_check_fail_status_flags().reject_airspeed;
status_flags.reject_sideslip = _ekf.innov_check_fail_status_flags().reject_sideslip;
status_flags.reject_hagl = _ekf.innov_check_fail_status_flags().reject_hagl;
status_flags.reject_optflow_x = _ekf.innov_check_fail_status_flags().reject_optflow_X;
status_flags.reject_optflow_y = _ekf.innov_check_fail_status_flags().reject_optflow_Y;
status_flags.innovation_fault_status_changes = _innov_check_fail_status_changes;
status_flags.reject_hor_vel = _ekf.innov_check_fail_status_flags().reject_hor_vel;
status_flags.reject_ver_vel = _ekf.innov_check_fail_status_flags().reject_ver_vel;
status_flags.reject_hor_pos = _ekf.innov_check_fail_status_flags().reject_hor_pos;
status_flags.reject_ver_pos = _ekf.innov_check_fail_status_flags().reject_ver_pos;
status_flags.reject_mag_x = _ekf.innov_check_fail_status_flags().reject_mag_x;
status_flags.reject_mag_y = _ekf.innov_check_fail_status_flags().reject_mag_y;
status_flags.reject_mag_z = _ekf.innov_check_fail_status_flags().reject_mag_z;
status_flags.reject_yaw = _ekf.innov_check_fail_status_flags().reject_yaw;
status_flags.reject_airspeed = _ekf.innov_check_fail_status_flags().reject_airspeed;
status_flags.reject_sideslip = _ekf.innov_check_fail_status_flags().reject_sideslip;
status_flags.reject_hagl = _ekf.innov_check_fail_status_flags().reject_hagl;
status_flags.reject_optflow_x = _ekf.innov_check_fail_status_flags().reject_optflow_X;
status_flags.reject_optflow_y = _ekf.innov_check_fail_status_flags().reject_optflow_Y;
status_flags.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
_estimator_status_flags_pub.publish(status_flags);