LORD-MicroStrain/microstrain_inertial

Filter LLH message always reports NO_FIX on CV7

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WilliamY835 commented

Describe the bug
We have observed that the filter LLH message always reports a status of -1, or NO_FIX, even when the filter has an accurate fix and reports a stable status in /ekf/status. This causes issues with a downstream component we are using that is looking for a valid NavSatFix message.

We are using the CV7 INS on ROS2 with a GPS connected directly to the device GPIO.

To Reproduce
Steps to reproduce the behavior:

  1. Set up a GPS device to send NMEA messages to the CV7.
  2. Launch the ROS2 node with the attached params.
  3. Inspect the status.status field of the NavSatFix message on topic /ekf/llh_position.

Expected behavior
The status field should report 0 (STATUS_FIX) when the filter has a valid fix.

Environment (please complete the following information):

  • OS: Ubuntu 22.04
  • Architecture: arm64
  • ROS Version: Humble
  • Version: 4.3.0
  • Sensor(s): 3DM-CV7

Modifications
None.

Launch Parameters
microstrain_params.txt