Added EKF filter health status reporting, added dynamic in-air reset.

1 files changed, 81 insertions, 0 deletions

diff --git a/src/modules/uORB/topics/estimator_status.h b/src/modules/uORB/topics/estimator_status.h
new file mode 100644
index 000000000..66ca03019
--- /dev/null
+++ b/src/modules/uORB/topics/estimator_status.h
@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file estimator_status.h
+ * Definition of the estimator_status_report uORB topic.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#ifndef ESTIMATOR_STATUS_H_
+#define ESTIMATOR_STATUS_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Estimator status report.
+ *
+ * This is a generic status report struct which allows any of the onboard estimators
+ * to write the internal state to the system log.
+ *
+ */
+struct estimator_status_report {
+
+	/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes - change with consideration only   */
+
+	uint64_t timestamp;			/**< Timestamp in microseconds since boot */
+	float states[32];			/**< Internal filter states */
+	float n_states;				/**< Number of states effectively used */
+	bool states_nan;			/**< If set to true, one of the states is NaN */
+	bool covariance_nan;			/**< If set to true, the covariance matrix went NaN */
+	bool kalman_gain_nan;			/**< If set to true, the Kalman gain matrix went NaN */
+	bool states_out_of_bounds;		/**< If set to true, one of the states is out of bounds */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(estimator_status);
+
+#endif