EKF2 Fusion, viewing GPS, OF, or EV


Let’s say we have a UAV flying over GPS, VIO, and Optical Flow. Is there a way (during flight or after flight) to tell what the primary method of position hold was coming from?

From Dagar:

core thing is estimator status flags
it is either CS_GPS CS_OF CS_EV, those are the core ones
on starling we can do px4 listener.
we can do it through QGC console. regular px4 listener
to get the quality in realtime we could possibly do this in events right now. emit the event, pick up on it in qgc
super short term, estimator status flags. use listener to view it live
long term: look in qgc how prearm is done dynamically with flags and see if we can give live updates. have a qgc widget on the side that displays the % quality. We can have an event emitted when we want to update the quality of EV, GPS, or OF… OR when one positioning system flips over to another.

Found the one for GPS, but I don’t see an event generated if CS_EV is no good. https://github.com/PX4/PX4-Autopilot/blob/6be8cbe43966d57630e6743e163307c216444be7/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp#L282