ekf2: remove warning events logging

 - some of these warning flags aren't even being used, and most of the rest we can figure out from other sources

msg/EstimatorEventFlags.msg

@@ -20,18 +20,3 @@ bool reset_hgt_to_baro                  # 13 - true when the vertical position s
 bool reset_hgt_to_gps                   # 14 - true when the vertical position state is reset to the gps measurement
 bool reset_hgt_to_rng                   # 15 - true when the vertical position state is reset to the rng measurement
 bool reset_hgt_to_ev                    # 16 - true when the vertical position state is reset to the ev measurement
-
-# warning events
-uint32 warning_event_changes            # number of warning event changes
-bool gps_quality_poor                   #  0 - true when the gps is failing quality checks
-bool gps_fusion_timout                  #  1 - true when the gps data has not been used to correct the state estimates for a significant time period
-bool gps_data_stopped                   #  2 - true when the gps data has stopped for a significant time period
-bool gps_data_stopped_using_alternate   #  3 - true when the gps data has stopped for a significant time period but the filter is able to use other sources of data to maintain navigation
-bool height_sensor_timeout              #  4 - true when the height sensor has not been used to correct the state estimates for a significant time period
-bool stopping_navigation                #  5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation
-bool invalid_accel_bias_cov_reset       #  6 - true when the filter has detected bad acceerometer bias state esitmstes and has reset the corresponding covariance matrix elements
-bool bad_yaw_using_gps_course           #  7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course
-bool stopping_mag_use                   #  8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetometer data
-bool vision_data_stopped                #  9 - true when the vision system data has stopped for a significant time period
-bool emergency_yaw_reset_mag_stopped    # 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetometer data
-bool emergency_yaw_reset_gps_yaw_stopped # 11 - true when the filter has detected bad GNSS yaw data, has reset the yaw to anothter source of data and has stopped further use of the GNSS yaw data

src/modules/ekf2/EKF/aid_sources/external_vision/ev_control.cpp

@@ -83,7 +83,6 @@ void Ekf::controlExternalVisionFusion()
 
 		_ev_q_error_initialized = false;
 
-		_warning_events.flags.vision_data_stopped = true;
 		ECL_WARN("vision data stopped");
 	}
 }

src/modules/ekf2/EKF/aid_sources/fake_pos_control.cpp

@@ -109,7 +109,6 @@ void Ekf::controlFakePosFusion()
 
 				if (_control_status.flags.tilt_align) {
 					// The fake position fusion is not started for initial alignement
-					_warning_events.flags.stopping_navigation = true;
 					ECL_WARN("stopping navigation");
 				}
 			}

src/modules/ekf2/EKF/aid_sources/gnss/gps_control.cpp

@@ -78,7 +78,6 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
 
 			if (_control_status.flags.gps && isTimedOut(_last_gps_pass_us, _params.reset_timeout_max)) {
 				stopGpsFusion();
-				_warning_events.flags.gps_quality_poor = true;
 				ECL_WARN("GPS quality poor - stopping use");
 			}
 		}
@@ -92,7 +91,6 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
 	} else if (_control_status.flags.gps) {
 		if (!isNewestSampleRecent(_time_last_gps_buffer_push, _params.reset_timeout_max)) {
 			stopGpsFusion();
-			_warning_events.flags.gps_data_stopped = true;
 			ECL_WARN("GPS data stopped");
 		}
 	}
@@ -276,14 +274,12 @@ bool Ekf::tryYawEmergencyReset()
 			// stop using the magnetometer in the main EKF otherwise its fusion could drag the yaw around
 			// and cause another navigation failure
 			_control_status.flags.mag_fault = true;
-			_warning_events.flags.emergency_yaw_reset_mag_stopped = true;
 		}
 
 #if defined(CONFIG_EKF2_GNSS_YAW)
 
 		if (_control_status.flags.gps_yaw) {
 			_control_status.flags.gps_yaw_fault = true;
-			_warning_events.flags.emergency_yaw_reset_gps_yaw_stopped = true;
 		}
 
 #endif // CONFIG_EKF2_GNSS_YAW

src/modules/ekf2/EKF/common.h

@@ -666,34 +666,5 @@ bool reset_pos_to_ext_obs       :
 	uint32_t value;
 };
 
-// define structure used to communicate information events
-union warning_event_status_u {
-	struct {
-		bool gps_quality_poor                   : 1; ///< 0 - true when the gps is failing quality checks
-bool gps_fusion_timout                  :
-		1; ///< 1 - true when the gps data has not been used to correct the state estimates for a significant time period
-		bool gps_data_stopped                   : 1; ///< 2 - true when the gps data has stopped for a significant time period
-bool gps_data_stopped_using_alternate   :
-		1; ///< 3 - true when the gps data has stopped for a significant time period but the filter is able to use other sources of data to maintain navigation
-bool height_sensor_timeout              :
-		1; ///< 4 - true when the height sensor has not been used to correct the state estimates for a significant time period
-bool stopping_navigation                :
-		1; ///< 5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation
-bool invalid_accel_bias_cov_reset       :
-		1; ///< 6 - true when the filter has detected bad acceerometer bias state estimates and has reset the corresponding covariance matrix elements
-bool bad_yaw_using_gps_course           :
-		1; ///< 7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course
-bool stopping_mag_use                   :
-		1; ///< 8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetometer data
-bool vision_data_stopped                :
-		1; ///< 9 - true when the vision system data has stopped for a significant time period
-bool emergency_yaw_reset_mag_stopped    :
-		1; ///< 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetometer data
-bool emergency_yaw_reset_gps_yaw_stopped:
-		1; ///< 11 - true when the filter has detected bad GNSS yaw data, has reset the yaw to anothter source of data and has stopped further use of the GNSS yaw data
-	} flags;
-	uint32_t value;
-};
-
 }
 #endif // !EKF_COMMON_H

src/modules/ekf2/EKF/estimator_interface.h

@@ -293,10 +293,6 @@ class EstimatorInterface
 	const innovation_fault_status_u &innov_check_fail_status() const { return _innov_check_fail_status; }
 	const decltype(innovation_fault_status_u::flags) &innov_check_fail_status_flags() const { return _innov_check_fail_status.flags; }
 
-	const warning_event_status_u &warning_event_status() const { return _warning_events; }
-	const decltype(warning_event_status_u::flags) &warning_event_flags() const { return _warning_events.flags; }
-	void clear_warning_events() { _warning_events.value = 0; }
-
 	const information_event_status_u &information_event_status() const { return _information_events; }
 	const decltype(information_event_status_u::flags) &information_event_flags() const { return _information_events.flags; }
 	void clear_information_events() { _information_events.value = 0; }
@@ -473,7 +469,6 @@ class EstimatorInterface
 
 	// these are used to record single frame events for external monitoring and should NOT be used for
 	// state logic becasue they will be cleared externally after being read.
-	warning_event_status_u _warning_events{};
 	information_event_status_u _information_events{};
 
 	unsigned _min_obs_interval_us{0}; // minimum time interval between observations that will guarantee data is not lost (usec)

src/modules/ekf2/EKF/height_control.cpp

@@ -216,7 +216,6 @@ void Ekf::checkVerticalAccelerationBias(const imuSample &imu_delayed)
 		_time_acc_bias_check = imu_delayed.time_us;
 
 		_fault_status.flags.bad_acc_bias = false;
-		_warning_events.flags.invalid_accel_bias_cov_reset = true;
 		ECL_WARN("invalid accel bias - covariance reset");
 	}
 }

src/modules/ekf2/EKF2.cpp

@@ -1107,16 +1107,7 @@ void EKF2::PublishEventFlags(const hrt_abstime &timestamp)
 		_filter_information_event_changes++;
 	}
 
-	// warning events
-	uint32_t warning_events = _ekf.warning_event_status().value;
-	bool warning_event_updated = false;
-
-	if (warning_events != 0) {
-		warning_event_updated = true;
-		_filter_warning_event_changes++;
-	}
-
-	if (information_event_updated || warning_event_updated) {
+	if (information_event_updated) {
 		estimator_event_flags_s event_flags{};
 		event_flags.timestamp_sample = _ekf.time_delayed_us();
 
@@ -1139,27 +1130,12 @@ void EKF2::PublishEventFlags(const hrt_abstime &timestamp)
 		event_flags.reset_hgt_to_rng                    = _ekf.information_event_flags().reset_hgt_to_rng;
 		event_flags.reset_hgt_to_ev                     = _ekf.information_event_flags().reset_hgt_to_ev;
 
-		event_flags.warning_event_changes               = _filter_warning_event_changes;
-		event_flags.gps_quality_poor                    = _ekf.warning_event_flags().gps_quality_poor;
-		event_flags.gps_fusion_timout                   = _ekf.warning_event_flags().gps_fusion_timout;
-		event_flags.gps_data_stopped                    = _ekf.warning_event_flags().gps_data_stopped;
-		event_flags.gps_data_stopped_using_alternate    = _ekf.warning_event_flags().gps_data_stopped_using_alternate;
-		event_flags.height_sensor_timeout               = _ekf.warning_event_flags().height_sensor_timeout;
-		event_flags.stopping_navigation                 = _ekf.warning_event_flags().stopping_mag_use;
-		event_flags.invalid_accel_bias_cov_reset        = _ekf.warning_event_flags().invalid_accel_bias_cov_reset;
-		event_flags.bad_yaw_using_gps_course            = _ekf.warning_event_flags().bad_yaw_using_gps_course;
-		event_flags.stopping_mag_use                    = _ekf.warning_event_flags().stopping_mag_use;
-		event_flags.vision_data_stopped                 = _ekf.warning_event_flags().vision_data_stopped;
-		event_flags.emergency_yaw_reset_mag_stopped     = _ekf.warning_event_flags().emergency_yaw_reset_mag_stopped;
-		event_flags.emergency_yaw_reset_gps_yaw_stopped = _ekf.warning_event_flags().emergency_yaw_reset_gps_yaw_stopped;
-
 		event_flags.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
 		_estimator_event_flags_pub.update(event_flags);
 
 		_last_event_flags_publish = event_flags.timestamp;
 
 		_ekf.clear_information_events();
-		_ekf.clear_warning_events();
 
 	} else if ((_last_event_flags_publish != 0) && (timestamp >= _last_event_flags_publish + 1_s)) {
 		// continue publishing periodically
@@ -2676,8 +2652,7 @@ void EKF2::UpdateAccelCalibration(const hrt_abstime &timestamp)
 				&& (_ekf.fault_status().value == 0)
 				&& !_ekf.fault_status_flags().bad_acc_bias
 				&& !_ekf.fault_status_flags().bad_acc_clipping
-				&& !_ekf.fault_status_flags().bad_acc_vertical
-				&& !_ekf.warning_event_flags().invalid_accel_bias_cov_reset;
+				&& !_ekf.fault_status_flags().bad_acc_vertical;
 
 	const bool learning_valid = bias_valid && !_ekf.accel_bias_inhibited();
 

src/modules/ekf2/EKF2.hpp

@@ -418,7 +418,6 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem
 	uint32_t _filter_control_status_changes{0};
 	uint32_t _filter_fault_status_changes{0};
 	uint32_t _innov_check_fail_status_changes{0};
-	uint32_t _filter_warning_event_changes{0};
 	uint32_t _filter_information_event_changes{0};
 
 	uORB::PublicationMulti<ekf2_timestamps_s>            _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};