#include <common.h>

Collaboration diagram for estimator::filter_control_status_u:

Public Attributes
struct {
uint32_t tilt_align: 1
	0 - true if the filter tilt alignment is complete More...

uint32_t yaw_align: 1
	1 - true if the filter yaw alignment is complete More...

uint32_t gps: 1
	2 - true if GPS measurements are being fused More...

uint32_t opt_flow: 1
	3 - true if optical flow measurements are being fused More...

uint32_t mag_hdg: 1
	4 - true if a simple magnetic yaw heading is being fused More...

uint32_t mag_3D: 1
	5 - true if 3-axis magnetometer measurement are being fused More...

uint32_t mag_dec: 1
	6 - true if synthetic magnetic declination measurements are being fused More...

uint32_t in_air: 1
	7 - true when the vehicle is airborne More...

uint32_t wind: 1
	8 - true when wind velocity is being estimated More...

uint32_t baro_hgt: 1
	9 - true when baro height is being fused as a primary height reference More...

uint32_t rng_hgt: 1
	10 - true when range finder height is being fused as a primary height reference More...

uint32_t gps_hgt: 1
	11 - true when GPS height is being fused as a primary height reference More...

uint32_t ev_pos: 1
	12 - true when local position data from external vision is being fused More...

uint32_t ev_yaw: 1
	13 - true when yaw data from external vision measurements is being fused More...

uint32_t ev_hgt: 1
	14 - true when height data from external vision measurements is being fused More...

uint32_t fuse_beta: 1
	15 - true when synthetic sideslip measurements are being fused More...

uint32_t mag_field_disturbed: 1
	16 - true when the mag field does not match the expected strength More...

uint32_t fixed_wing: 1
	17 - true when the vehicle is operating as a fixed wing vehicle More...

uint32_t mag_fault: 1
	18 - true when the magnetometer has been declared faulty and is no longer being used More...

uint32_t fuse_aspd: 1
	19 - true when airspeed measurements are being fused More...

uint32_t gnd_effect: 1
	20 - true when protection from ground effect induced static pressure rise is active More...

uint32_t rng_stuck: 1
	21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough More...

uint32_t gps_yaw: 1
	22 - true when yaw (not ground course) data from a GPS receiver is being fused More...

uint32_t mag_aligned_in_flight: 1
	23 - true when the in-flight mag field alignment has been completed More...

uint32_t ev_vel: 1
	24 - true when local earth frame velocity data from external vision measurements are being fused More...

uint32_t synthetic_mag_z: 1
	25 - true when we are using a synthesized measurement for the magnetometer Z component More...

}	flags

uint32_t	value

Detailed Description

Definition at line 439 of file common.h.

Member Data Documentation

◆ baro_hgt

uint32_t estimator::filter_control_status_u::baro_hgt

9 - true when baro height is being fused as a primary height reference

Definition at line 450 of file common.h.

Referenced by Ekf::collect_gps(), Ekf::controlFusionModes(), Ekf::controlHeightFusion(), Ekf::controlHeightSensorTimeouts(), Ekf::fuseVelPosHeight(), Ekf::get_ekf_soln_status(), Ekf::initialiseFilter(), Ekf::resetHeight(), Ekf::setControlBaroHeight(), Ekf::setControlEVHeight(), Ekf::setControlGPSHeight(), Ekf::setControlRangeHeight(), and TEST_F().

◆ ev_hgt

uint32_t estimator::filter_control_status_u::ev_hgt

14 - true when height data from external vision measurements is being fused

Definition at line 455 of file common.h.

Referenced by Ekf::controlExternalVisionFusion(), Ekf::controlFusionModes(), Ekf::controlHeightSensorTimeouts(), Ekf::fuseVelPosHeight(), Ekf::get_ekf_soln_status(), Ekf::initialiseFilter(), Ekf::resetHeight(), Ekf::setControlBaroHeight(), Ekf::setControlEVHeight(), Ekf::setControlGPSHeight(), Ekf::setControlRangeHeight(), and TEST_F().

◆ ev_pos

uint32_t estimator::filter_control_status_u::ev_pos

12 - true when local position data from external vision is being fused

Definition at line 453 of file common.h.

Referenced by Ekf::checkRangeAidSuitability(), Ekf::checkYawAngleObservability(), Ekf::collect_gps(), Ekf::controlAuxVelFusion(), Ekf::controlExternalVisionFusion(), Ekf::controlGpsFusion(), Ekf::controlOpticalFlowFusion(), Ekf::controlVelPosFusion(), Ekf::get_ekf_ctrl_limits(), Ekf::get_ekf_gpos_accuracy(), Ekf::get_ekf_lpos_accuracy(), Ekf::get_ekf_soln_status(), Ekf::get_ekf_vel_accuracy(), Ekf::resetPosition(), Ekf::resetVelocity(), Ekf2::runPreFlightChecks(), EstimatorInterface::setOpticalFlowData(), Ekf::shouldInhibitMag(), TEST_F(), and Ekf::update_deadreckoning_status().

◆ ev_vel

uint32_t estimator::filter_control_status_u::ev_vel

24 - true when local earth frame velocity data from external vision measurements are being fused

Definition at line 465 of file common.h.

Referenced by Ekf::checkRangeAidSuitability(), Ekf::collect_gps(), Ekf::controlAuxVelFusion(), Ekf::controlExternalVisionFusion(), Ekf::controlGpsFusion(), Ekf::controlOpticalFlowFusion(), Ekf::controlVelPosFusion(), Ekf::get_ekf_ctrl_limits(), Ekf::get_ekf_soln_status(), Ekf::get_ekf_vel_accuracy(), Ekf::resetVelocity(), EstimatorInterface::setOpticalFlowData(), Ekf::shouldInhibitMag(), TEST_F(), and Ekf::update_deadreckoning_status().

◆ ev_yaw

uint32_t estimator::filter_control_status_u::ev_yaw

13 - true when yaw data from external vision measurements is being fused

Definition at line 454 of file common.h.

Referenced by Ekf::canRunMagFusion(), Ekf::controlExternalVisionFusion(), Ekf::controlGpsFusion(), Ekf::fuseHeading(), Ekf::initialiseFilter(), Ekf::resetMagHeading(), and TEST_F().

◆ fixed_wing

uint32_t estimator::filter_control_status_u::fixed_wing

17 - true when the vehicle is operating as a fixed wing vehicle

Definition at line 458 of file common.h.

Referenced by Ekf::canRealignYawUsingGps(), Ekf::controlGpsFusion(), and TEST_F().

◆ flags

struct { ... } estimator::filter_control_status_u::flags

◆ fuse_aspd

uint32_t estimator::filter_control_status_u::fuse_aspd

19 - true when airspeed measurements are being fused

Definition at line 460 of file common.h.

Referenced by Ekf::controlAirDataFusion(), Ekf::controlVelPosFusion(), and Ekf::get_ekf_soln_status().

◆ fuse_beta

uint32_t estimator::filter_control_status_u::fuse_beta

15 - true when synthetic sideslip measurements are being fused

Definition at line 456 of file common.h.

Referenced by Ekf::controlBetaFusion(), Ekf::controlVelPosFusion(), Ekf::get_ekf_soln_status(), and TEST_F().

◆ gnd_effect

uint32_t estimator::filter_control_status_u::gnd_effect

20 - true when protection from ground effect induced static pressure rise is active

Definition at line 461 of file common.h.

Referenced by Ekf::controlHeightFusion(), Ekf::fuseVelPosHeight(), and TEST_F().

◆ gps

uint32_t estimator::filter_control_status_u::gps

◆ gps_hgt

uint32_t estimator::filter_control_status_u::gps_hgt

11 - true when GPS height is being fused as a primary height reference

Definition at line 452 of file common.h.

Referenced by Ekf::collect_gps(), Ekf::controlFusionModes(), Ekf::controlHeightFusion(), Ekf::controlHeightSensorTimeouts(), Ekf::fuseVelPosHeight(), Ekf::get_ekf_soln_status(), Ekf::initialiseCovariance(), Ekf::initialiseFilter(), Ekf::resetHeight(), Ekf::setControlBaroHeight(), Ekf::setControlEVHeight(), Ekf::setControlGPSHeight(), Ekf::setControlRangeHeight(), and TEST_F().

◆ gps_yaw

uint32_t estimator::filter_control_status_u::gps_yaw

22 - true when yaw (not ground course) data from a GPS receiver is being fused

Definition at line 463 of file common.h.

Referenced by Ekf::canRunMagFusion(), Ekf::controlGpsFusion(), and TEST_F().

◆ in_air

uint32_t estimator::filter_control_status_u::in_air

◆ mag_3D

uint32_t estimator::filter_control_status_u::mag_3D

5 - true if 3-axis magnetometer measurement are being fused

Definition at line 446 of file common.h.

Referenced by Ekf::checkMagDeclRequired(), Ekf::fixCovarianceErrors(), Ekf::fuseHeading(), Ekf::fuseSideslip(), Ekf::predictCovariance(), Ekf::realignYawGPS(), Ekf::resetMagHeading(), Ekf2::Run(), Ekf::runMagAndMagDeclFusions(), Ekf::startMag3DFusion(), Ekf::stopMag3DFusion(), and TEST_F().

◆ mag_aligned_in_flight

uint32_t estimator::filter_control_status_u::mag_aligned_in_flight

23 - true when the in-flight mag field alignment has been completed

Definition at line 464 of file common.h.

Referenced by Ekf::canUse3DMagFusion(), Ekf::checkHaglYawResetReq(), Ekf::controlGpsFusion(), Ekf::controlMagFusion(), Ekf::getMagDeclination(), Ekf::realignYawGPS(), Ekf::runInAirYawReset(), and TEST_F().

◆ mag_dec

uint32_t estimator::filter_control_status_u::mag_dec

6 - true if synthetic magnetic declination measurements are being fused

Definition at line 447 of file common.h.

Referenced by Ekf::checkMagDeclRequired(), Ekf::controlExternalVisionFusion(), Ekf::controlGpsFusion(), Ekf::run3DMagAndDeclFusions(), and TEST_F().

◆ mag_fault

uint32_t estimator::filter_control_status_u::mag_fault

18 - true when the magnetometer has been declared faulty and is no longer being used

Definition at line 459 of file common.h.

Referenced by Ekf::controlMagFusion(), Ekf::realignYawGPS(), and TEST_F().

◆ mag_field_disturbed

uint32_t estimator::filter_control_status_u::mag_field_disturbed

16 - true when the mag field does not match the expected strength

Definition at line 457 of file common.h.

Referenced by Ekf::checkMagFieldStrength(), Ekf::isStrongMagneticDisturbance(), Ekf2::Run(), and TEST_F().

◆ mag_hdg

uint32_t estimator::filter_control_status_u::mag_hdg

4 - true if a simple magnetic yaw heading is being fused

Definition at line 445 of file common.h.

Referenced by Ekf::fuseHeading(), Ekf::runMagAndMagDeclFusions(), Ekf::startMagHdgFusion(), Ekf::stopMagHdgFusion(), and TEST_F().

◆ opt_flow

uint32_t estimator::filter_control_status_u::opt_flow

3 - true if optical flow measurements are being fused

Definition at line 444 of file common.h.

Referenced by Ekf::checkRangeAidSuitability(), Ekf::collect_gps(), Ekf::controlAuxVelFusion(), Ekf::controlFusionModes(), Ekf::controlGpsFusion(), Ekf::controlOpticalFlowFusion(), Ekf::controlVelPosFusion(), Ekf::get_ekf_ctrl_limits(), Ekf::get_ekf_soln_status(), Ekf::get_ekf_vel_accuracy(), Ekf::resetPosition(), Ekf::resetVelocity(), Ekf2::runPreFlightChecks(), TEST_F(), Ekf::update_deadreckoning_status(), and Ekf::updateTerrainValidity().

◆ rng_hgt

uint32_t estimator::filter_control_status_u::rng_hgt

10 - true when range finder height is being fused as a primary height reference

Definition at line 451 of file common.h.

Referenced by Ekf::collect_gps(), Ekf::controlFusionModes(), Ekf::controlHeightFusion(), Ekf::controlHeightSensorTimeouts(), Ekf::fuseVelPosHeight(), Ekf::get_ekf_ctrl_limits(), Ekf::get_ekf_soln_status(), Ekf::initialiseCovariance(), Ekf::initialiseFilter(), Ekf::resetHeight(), Ekf::setControlBaroHeight(), Ekf::setControlEVHeight(), Ekf::setControlGPSHeight(), Ekf::setControlRangeHeight(), and TEST_F().

◆ rng_stuck

uint32_t estimator::filter_control_status_u::rng_stuck

21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough

Definition at line 462 of file common.h.

Referenced by TEST_F(), Ekf::updateRangeDataStuck(), and Ekf::updateRangeDataValidity().

◆ synthetic_mag_z

uint32_t estimator::filter_control_status_u::synthetic_mag_z

25 - true when we are using a synthesized measurement for the magnetometer Z component

Definition at line 466 of file common.h.

Referenced by Ekf::controlFusionModes(), Ekf::fuseMag(), and TEST_F().

◆ tilt_align

uint32_t estimator::filter_control_status_u::tilt_align

0 - true if the filter tilt alignment is complete

Definition at line 441 of file common.h.

Referenced by Ekf::controlExternalVisionFusion(), Ekf::controlFusionModes(), Ekf::controlGpsFusion(), Ekf::controlOpticalFlowFusion(), Ekf::controlVelPosFusion(), Ekf::fuseVelPosHeight(), Ekf::get_ekf_soln_status(), Ekf2::Run(), and TEST_F().

◆ value

uint32_t estimator::filter_control_status_u::value

Definition at line 468 of file common.h.

Referenced by Ekf::controlFusionModes(), Ekf::reset(), Ekf2::Run(), and TEST_F().

◆ wind

uint32_t estimator::filter_control_status_u::wind

8 - true when wind velocity is being estimated

Definition at line 449 of file common.h.

Referenced by Ekf::controlAirDataFusion(), Ekf::controlBetaFusion(), Ekf::controlDragFusion(), Ekf::fixCovarianceErrors(), Ekf::fuseGpsAntYaw(), Ekf::fuseHeading(), Ekf::predictCovariance(), Ekf::realignYawGPS(), TEST_F(), and Ekf::update_deadreckoning_status().

◆ yaw_align

uint32_t estimator::filter_control_status_u::yaw_align

1 - true if the filter yaw alignment is complete

Definition at line 442 of file common.h.

Referenced by Ekf::controlExternalVisionFusion(), Ekf::controlFusionModes(), Ekf::controlGpsFusion(), Ekf::controlMagFusion(), Ekf::controlOpticalFlowFusion(), Ekf::get_ekf_soln_status(), Ekf::initialiseFilter(), Ekf::realignYawGPS(), Ekf::resetGpsAntYaw(), and TEST_F().

The documentation for this union was generated from the following file:

src/lib/ecl/EKF/common.h

Public Attributes