From 7a6d33ba47ccc65354427518674531e84e28f54c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 4 Jun 2014 09:51:14 +0200 Subject: Extend estimator status --- src/modules/uORB/topics/estimator_status.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'src/modules/uORB/topics/estimator_status.h') diff --git a/src/modules/uORB/topics/estimator_status.h b/src/modules/uORB/topics/estimator_status.h index 5530cdb21..7f26b505b 100644 --- a/src/modules/uORB/topics/estimator_status.h +++ b/src/modules/uORB/topics/estimator_status.h @@ -64,9 +64,9 @@ struct estimator_status_report { 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 */ + uint8_t nan_flags; /**< Bitmask to indicate NaN states */ + uint8_t health_flags; /**< Bitmask to indicate sensor health states (vel, pos, hgt) */ + uint8_t timeout_flags; /**< Bitmask to indicate timeout flags (vel, pos, hgt) */ }; -- cgit v1.2.3