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Fix and unify the maximum allowed PDOP references

release/1.12
Antonio Sanjurjo Cortés 4 years ago committed by Mathieu Bresciani
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be3cdc0439
commit
fa45eacea3
4 changed files with 7 additions and 7 deletions
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  1. 2
      Tools/ecl_ekf/analysis/post_processing.py
  2. 2
      msg/estimator_status.msg
  3. 4
      src/modules/commander/Arming/PreFlightCheck/checks/ekf2Check.cpp
  4. 6
      src/modules/ekf2/ekf2_params.c

2
Tools/ecl_ekf/analysis/post_processing.py
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@ -125,7 +125,7 @@ def get_gps_check_fail_flags(estimator_status: dict) -> dict:
# 0 : insufficient fix type (no 3D solution) # 0 : insufficient fix type (no 3D solution)
# 1 : minimum required sat count fail # 1 : minimum required sat count fail
# 2 : minimum required PDOP fail # 2 : maximum allowed PDOP fail
# 3 : maximum allowed horizontal position error fail # 3 : maximum allowed horizontal position error fail
# 4 : maximum allowed vertical position error fail # 4 : maximum allowed vertical position error fail
# 5 : maximum allowed speed error fail # 5 : maximum allowed speed error fail

2
msg/estimator_status.msg
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@ -12,7 +12,7 @@ uint16 gps_check_fail_flags # Bitmask to indicate status of GPS checks - see
# bits are true when corresponding test has failed # bits are true when corresponding test has failed
uint8 GPS_CHECK_FAIL_GPS_FIX = 0 # 0 : insufficient fix type (no 3D solution) uint8 GPS_CHECK_FAIL_GPS_FIX = 0 # 0 : insufficient fix type (no 3D solution)
uint8 GPS_CHECK_FAIL_MIN_SAT_COUNT = 1 # 1 : minimum required sat count fail uint8 GPS_CHECK_FAIL_MIN_SAT_COUNT = 1 # 1 : minimum required sat count fail
uint8 GPS_CHECK_FAIL_MIN_PDOP = 2 # 2 : minimum required PDOP fail uint8 GPS_CHECK_FAIL_MAX_PDOP = 2 # 2 : maximum allowed PDOP fail
uint8 GPS_CHECK_FAIL_MAX_HORZ_ERR = 3 # 3 : maximum allowed horizontal position error fail uint8 GPS_CHECK_FAIL_MAX_HORZ_ERR = 3 # 3 : maximum allowed horizontal position error fail
uint8 GPS_CHECK_FAIL_MAX_VERT_ERR = 4 # 4 : maximum allowed vertical position error fail uint8 GPS_CHECK_FAIL_MAX_VERT_ERR = 4 # 4 : maximum allowed vertical position error fail
uint8 GPS_CHECK_FAIL_MAX_SPD_ERR = 5 # 5 : maximum allowed speed error fail uint8 GPS_CHECK_FAIL_MAX_SPD_ERR = 5 # 5 : maximum allowed speed error fail

4
src/modules/commander/Arming/PreFlightCheck/checks/ekf2Check.cpp
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@ -171,8 +171,8 @@ bool PreFlightCheck::ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &
} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MIN_SAT_COUNT)) { } else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MIN_SAT_COUNT)) {
message = "Preflight%s: not enough GPS Satellites"; message = "Preflight%s: not enough GPS Satellites";
} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MIN_PDOP)) { } else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_PDOP)) {
message = "Preflight%s: GPS PDOP too low"; message = "Preflight%s: GPS PDOP too high";
} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_HORZ_ERR)) { } else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_HORZ_ERR)) {
message = "Preflight%s: GPS Horizontal Pos Error too high"; message = "Preflight%s: GPS Horizontal Pos Error too high";

6
src/modules/ekf2/ekf2_params.c
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@ -153,7 +153,7 @@ PARAM_DEFINE_FLOAT(EKF2_AVEL_DELAY, 5);
* *
* Set bits to 1 to enable checks. Checks enabled by the following bit positions * Set bits to 1 to enable checks. Checks enabled by the following bit positions
* 0 : Minimum required sat count set by EKF2_REQ_NSATS * 0 : Minimum required sat count set by EKF2_REQ_NSATS
* 1 : Minimum required PDOP set by EKF2_REQ_PDOP * 1 : Maximum allowed PDOP set by EKF2_REQ_PDOP
* 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH * 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH
* 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV * 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV
* 4 : Maximum allowed speed error set by EKF2_REQ_SACC * 4 : Maximum allowed speed error set by EKF2_REQ_SACC
@ -166,7 +166,7 @@ PARAM_DEFINE_FLOAT(EKF2_AVEL_DELAY, 5);
* @min 0 * @min 0
* @max 511 * @max 511
* @bit 0 Min sat count (EKF2_REQ_NSATS) * @bit 0 Min sat count (EKF2_REQ_NSATS)
* @bit 1 Min PDOP (EKF2_REQ_PDOP) * @bit 1 Max PDOP (EKF2_REQ_PDOP)
* @bit 2 Max horizontal position error (EKF2_REQ_EPH) * @bit 2 Max horizontal position error (EKF2_REQ_EPH)
* @bit 3 Max vertical position error (EKF2_REQ_EPV) * @bit 3 Max vertical position error (EKF2_REQ_EPV)
* @bit 4 Max speed error (EKF2_REQ_SACC) * @bit 4 Max speed error (EKF2_REQ_SACC)
@ -220,7 +220,7 @@ PARAM_DEFINE_FLOAT(EKF2_REQ_SACC, 0.5f);
PARAM_DEFINE_INT32(EKF2_REQ_NSATS, 6); PARAM_DEFINE_INT32(EKF2_REQ_NSATS, 6);
/** /**
* Required PDOP to use GPS. * Maximum PDOP to use GPS.
* *
* @group EKF2 * @group EKF2
* @min 1.5 * @min 1.5

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