New debug_mode POS_EST that is useful for autonomous flight #8549
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DzikuVx
approved these changes
Dec 6, 2022
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Amazing, thanks a lot for this change. And sorry it took me so long to review you work |
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A new debug mode called POS_EST was added because it was needed to make life easier while debugging the position estimation. This debug mode also gives the states of the estimations (EST_Z_VALID, EST_XY_VALID) and the sensors (EST_GPS_XY_VALID, EST_GPS_Z_VALID, EST_BARO_VALID, EST_SURFACE_VALID, EST_FLOW_VALID), all very useful for anything using the NAV flight modes (maybe it should even become a new MSP2_ESTIMATORS message...). Here is an example of how to read the debug mode using python.