ekf2: update to new ecl to fix fault status getter

- estimator_status filter_fault_flags was broken because the union within ecl/EKF has exceeded 16 bits

msg/estimator_status.msg

@@ -47,7 +47,7 @@ uint8 CS_RNG_STUCK = 21		# 21 - true when a stuck range finder sensor has been d
 uint8 CS_GPS_YAW = 22		# 22 - true when yaw (not ground course) data from a GPS receiver is being fused
 uint8 CS_MAG_ALIGNED = 23	# 23 - true when the in-flight mag field alignment has been completed
 
-uint16 filter_fault_flags	# Bitmask to indicate EKF internal faults
+uint32 filter_fault_flags	# Bitmask to indicate EKF internal faults
 # 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
 # 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error
 # 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error
@@ -64,6 +64,8 @@ uint16 filter_fault_flags	# Bitmask to indicate EKF internal faults
 # 13 - true if fusion of the East position has encountered a numerical error
 # 14 - true if fusion of the Down position has encountered a numerical error
 # 15 - true if bad delta velocity bias estimates have been detected
+# 16 - true if bad vertical accelerometer data has been detected
+# 17 - true if delta velocity data contains clipping (asymmetric railing)
 
 float32 pos_horiz_accuracy # 1-Sigma estimated horizontal position accuracy relative to the estimators origin (m)
 float32 pos_vert_accuracy # 1-Sigma estimated vertical position accuracy relative to the estimators origin (m)

src/lib/ecl

@@ -1 +1 @@
-Subproject commit 8f3df7a97b348dd7bf06233004f9821fe2ea88d1
+Subproject commit 1541e4b414fe63ec9d6c3077375db7e20c20ef4a

src/modules/ekf2/EKF2.cpp

@@ -598,13 +598,10 @@ void EKF2::PublishInnovations(const hrt_abstime &timestamp, const imuSample &imu
 	// calculate noise filtered velocity innovations which are used for pre-flight checking
 	if (_standby) {
 		// TODO: move to run before publications
-		filter_control_status_u control_status;
-		_ekf.get_control_mode(&control_status.value);
-
-		_preflt_checker.setUsingGpsAiding(control_status.flags.gps);
-		_preflt_checker.setUsingFlowAiding(control_status.flags.opt_flow);
-		_preflt_checker.setUsingEvPosAiding(control_status.flags.ev_pos);
-		_preflt_checker.setUsingEvVelAiding(control_status.flags.ev_vel);
+		_preflt_checker.setUsingGpsAiding(_ekf.control_status_flags().gps);
+		_preflt_checker.setUsingFlowAiding(_ekf.control_status_flags().opt_flow);
+		_preflt_checker.setUsingEvPosAiding(_ekf.control_status_flags().ev_pos);
+		_preflt_checker.setUsingEvVelAiding(_ekf.control_status_flags().ev_vel);
 
 		_preflt_checker.update(imu.delta_ang_dt, innovations);
 	}
@@ -948,11 +945,8 @@ void EKF2::PublishStatus(const hrt_abstime &timestamp)
 	// the GPS Fix bit, which is always checked)
 	status.gps_check_fail_flags &= ((uint16_t)_params->gps_check_mask << 1) | 1;
 
-	filter_control_status_u control_status;
-	_ekf.get_control_mode(&control_status.value);
-	status.control_mode_flags = control_status.value;
-
-	_ekf.get_filter_fault_status(&status.filter_fault_flags);
+	status.control_mode_flags = _ekf.control_status().value;
+	status.filter_fault_flags = _ekf.fault_status().value;
 	_ekf.get_innovation_test_status(status.innovation_check_flags, status.mag_test_ratio,
 					status.vel_test_ratio, status.pos_test_ratio,
 					status.hgt_test_ratio, status.tas_test_ratio,
@@ -968,7 +962,7 @@ void EKF2::PublishStatus(const hrt_abstime &timestamp)
 	status.pre_flt_fail_innov_vel_horiz = _preflt_checker.hasHorizVelFailed();
 	status.pre_flt_fail_innov_vel_vert = _preflt_checker.hasVertVelFailed();
 	status.pre_flt_fail_innov_height = _preflt_checker.hasHeightFailed();
-	status.pre_flt_fail_mag_field_disturbed = control_status.flags.mag_field_disturbed;
+	status.pre_flt_fail_mag_field_disturbed = _ekf.control_status_flags().mag_field_disturbed;
 
 	status.accel_device_id = _device_id_accel;
 	status.baro_device_id = _device_id_baro;
@@ -1384,12 +1378,9 @@ void EKF2::UpdateRangeSample(ekf2_timestamps_s &ekf2_timestamps)
 
 void EKF2::UpdateMagCalibration(const hrt_abstime &timestamp)
 {
-	fault_status_u fault_status;
-	_ekf.get_filter_fault_status(&fault_status.value);
-
 	// Check if conditions are OK for learning of magnetometer bias values
 	// the EKF is operating in the correct mode and there are no filter faults
-	if (_ekf.control_status_flags().in_air && _ekf.control_status_flags().mag_3D && (fault_status.value == 0)) {
+	if (_ekf.control_status_flags().in_air && _ekf.control_status_flags().mag_3D && (_ekf.fault_status().value == 0)) {
 
 		if (_last_magcal_us == 0) {
 			_last_magcal_us = timestamp;
@@ -1417,7 +1408,7 @@ void EKF2::UpdateMagCalibration(const hrt_abstime &timestamp)
 			}
 		}
 
-	} else if (fault_status.value != 0) {
+	} else if (_ekf.fault_status().value != 0) {
 		// if a filter fault has occurred, assume previous learning was invalid and do not
 		// count it towards total learning time.
 		_total_cal_time_us = 0;