github.com/bluenviron/gomavlib/v2@v2.2.1-0.20240308101627-2c07e3da629c/pkg/dialects/common/enum_estimator_status_flags.go (about)

     1  //autogenerated:yes
     2  //nolint:revive,misspell,govet,lll,dupl,gocritic
     3  package common
     4  
     5  import (
     6  	"fmt"
     7  	"strconv"
     8  	"strings"
     9  )
    10  
    11  // Flags in ESTIMATOR_STATUS message
    12  type ESTIMATOR_STATUS_FLAGS uint64
    13  
    14  const (
    15  	// True if the attitude estimate is good
    16  	ESTIMATOR_ATTITUDE ESTIMATOR_STATUS_FLAGS = 1
    17  	// True if the horizontal velocity estimate is good
    18  	ESTIMATOR_VELOCITY_HORIZ ESTIMATOR_STATUS_FLAGS = 2
    19  	// True if the  vertical velocity estimate is good
    20  	ESTIMATOR_VELOCITY_VERT ESTIMATOR_STATUS_FLAGS = 4
    21  	// True if the horizontal position (relative) estimate is good
    22  	ESTIMATOR_POS_HORIZ_REL ESTIMATOR_STATUS_FLAGS = 8
    23  	// True if the horizontal position (absolute) estimate is good
    24  	ESTIMATOR_POS_HORIZ_ABS ESTIMATOR_STATUS_FLAGS = 16
    25  	// True if the vertical position (absolute) estimate is good
    26  	ESTIMATOR_POS_VERT_ABS ESTIMATOR_STATUS_FLAGS = 32
    27  	// True if the vertical position (above ground) estimate is good
    28  	ESTIMATOR_POS_VERT_AGL ESTIMATOR_STATUS_FLAGS = 64
    29  	// True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
    30  	ESTIMATOR_CONST_POS_MODE ESTIMATOR_STATUS_FLAGS = 128
    31  	// True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
    32  	ESTIMATOR_PRED_POS_HORIZ_REL ESTIMATOR_STATUS_FLAGS = 256
    33  	// True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
    34  	ESTIMATOR_PRED_POS_HORIZ_ABS ESTIMATOR_STATUS_FLAGS = 512
    35  	// True if the EKF has detected a GPS glitch
    36  	ESTIMATOR_GPS_GLITCH ESTIMATOR_STATUS_FLAGS = 1024
    37  	// True if the EKF has detected bad accelerometer data
    38  	ESTIMATOR_ACCEL_ERROR ESTIMATOR_STATUS_FLAGS = 2048
    39  )
    40  
    41  var labels_ESTIMATOR_STATUS_FLAGS = map[ESTIMATOR_STATUS_FLAGS]string{
    42  	ESTIMATOR_ATTITUDE:           "ESTIMATOR_ATTITUDE",
    43  	ESTIMATOR_VELOCITY_HORIZ:     "ESTIMATOR_VELOCITY_HORIZ",
    44  	ESTIMATOR_VELOCITY_VERT:      "ESTIMATOR_VELOCITY_VERT",
    45  	ESTIMATOR_POS_HORIZ_REL:      "ESTIMATOR_POS_HORIZ_REL",
    46  	ESTIMATOR_POS_HORIZ_ABS:      "ESTIMATOR_POS_HORIZ_ABS",
    47  	ESTIMATOR_POS_VERT_ABS:       "ESTIMATOR_POS_VERT_ABS",
    48  	ESTIMATOR_POS_VERT_AGL:       "ESTIMATOR_POS_VERT_AGL",
    49  	ESTIMATOR_CONST_POS_MODE:     "ESTIMATOR_CONST_POS_MODE",
    50  	ESTIMATOR_PRED_POS_HORIZ_REL: "ESTIMATOR_PRED_POS_HORIZ_REL",
    51  	ESTIMATOR_PRED_POS_HORIZ_ABS: "ESTIMATOR_PRED_POS_HORIZ_ABS",
    52  	ESTIMATOR_GPS_GLITCH:         "ESTIMATOR_GPS_GLITCH",
    53  	ESTIMATOR_ACCEL_ERROR:        "ESTIMATOR_ACCEL_ERROR",
    54  }
    55  
    56  var values_ESTIMATOR_STATUS_FLAGS = map[string]ESTIMATOR_STATUS_FLAGS{
    57  	"ESTIMATOR_ATTITUDE":           ESTIMATOR_ATTITUDE,
    58  	"ESTIMATOR_VELOCITY_HORIZ":     ESTIMATOR_VELOCITY_HORIZ,
    59  	"ESTIMATOR_VELOCITY_VERT":      ESTIMATOR_VELOCITY_VERT,
    60  	"ESTIMATOR_POS_HORIZ_REL":      ESTIMATOR_POS_HORIZ_REL,
    61  	"ESTIMATOR_POS_HORIZ_ABS":      ESTIMATOR_POS_HORIZ_ABS,
    62  	"ESTIMATOR_POS_VERT_ABS":       ESTIMATOR_POS_VERT_ABS,
    63  	"ESTIMATOR_POS_VERT_AGL":       ESTIMATOR_POS_VERT_AGL,
    64  	"ESTIMATOR_CONST_POS_MODE":     ESTIMATOR_CONST_POS_MODE,
    65  	"ESTIMATOR_PRED_POS_HORIZ_REL": ESTIMATOR_PRED_POS_HORIZ_REL,
    66  	"ESTIMATOR_PRED_POS_HORIZ_ABS": ESTIMATOR_PRED_POS_HORIZ_ABS,
    67  	"ESTIMATOR_GPS_GLITCH":         ESTIMATOR_GPS_GLITCH,
    68  	"ESTIMATOR_ACCEL_ERROR":        ESTIMATOR_ACCEL_ERROR,
    69  }
    70  
    71  // MarshalText implements the encoding.TextMarshaler interface.
    72  func (e ESTIMATOR_STATUS_FLAGS) MarshalText() ([]byte, error) {
    73  	if e == 0 {
    74  		return []byte("0"), nil
    75  	}
    76  	var names []string
    77  	for i := 0; i < 12; i++ {
    78  		mask := ESTIMATOR_STATUS_FLAGS(1 << i)
    79  		if e&mask == mask {
    80  			names = append(names, labels_ESTIMATOR_STATUS_FLAGS[mask])
    81  		}
    82  	}
    83  	return []byte(strings.Join(names, " | ")), nil
    84  }
    85  
    86  // UnmarshalText implements the encoding.TextUnmarshaler interface.
    87  func (e *ESTIMATOR_STATUS_FLAGS) UnmarshalText(text []byte) error {
    88  	labels := strings.Split(string(text), " | ")
    89  	var mask ESTIMATOR_STATUS_FLAGS
    90  	for _, label := range labels {
    91  		if value, ok := values_ESTIMATOR_STATUS_FLAGS[label]; ok {
    92  			mask |= value
    93  		} else if value, err := strconv.Atoi(label); err == nil {
    94  			mask |= ESTIMATOR_STATUS_FLAGS(value)
    95  		} else {
    96  			return fmt.Errorf("invalid label '%s'", label)
    97  		}
    98  	}
    99  	*e = mask
   100  	return nil
   101  }
   102  
   103  // String implements the fmt.Stringer interface.
   104  func (e ESTIMATOR_STATUS_FLAGS) String() string {
   105  	val, _ := e.MarshalText()
   106  	return string(val)
   107  }