How to tell if EKF and AHRS is healthy

Is there a mavlink message or series of messages that can tell me when the pre-flight checks are done and the vehicle is ready to be armed? Thanks!

I would find it very helpful if there was good documentation for diagnosing Bad AHRS, and verifying that EKF is working well. Maybe also bad compass health as well. I see those bad messages more often than I would like, and a cookbook of how to diagnose would be great.

Kelly

Is there a mavlink message or series of messages that can tell me when the
pre-flight checks are done and the vehicle is ready to be armed? Thanks!

Closest we’ve got that I know of is checking EKF_STATUS_FLAGS - a recent
change in the autotest frameworks waits for these to be 831 before
attempting to arm. This is a magic value, I don’t think we’re going to
guarantee this :slight_smile:

I’m moving towards being able to have a message enumerating arming check
failures, but progress is slow.

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I seem to be only receiving either EKF_STATUS_REPORT messages with flag values of 895 or 0. The enumeration for this message on the mavlink website doesn’t have either of those flags defined.

Is 895 the result of other bits being set in the flags section? If so, then which bits do I have to check against to see if the EKF is ready?

I seem to be only receiving either EKF_STATUS_REPORT messages with flag
values of 895 or 0. The enumeration for this message on the mavlink website
doesn’t have either of those flags defined.

This is a bitmask. Bit meanings come from the EKF_STATUS_FLAGS enumeration.