Ekf2Timestamps (UORB message)

this message contains the (relative) timestamps of the sensor inputs used by EKF2. It can be used for reproducible replay.

TOPICS: ekf2_timestamps

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
airspeed_timestamp_rel	int16
airspeed_validated_timestamp_rel	int16
distance_sensor_timestamp_rel	int16
optical_flow_timestamp_rel	int16
vehicle_air_data_timestamp_rel	int16
vehicle_magnetometer_timestamp_rel	int16
visual_odometry_timestamp_rel	int16

Constants

Name	Type	Value	Description
RELATIVE_TIMESTAMP_INVALID	int16	32767	(0x7fff) If one of the relative timestamps

Source Message

Source file (GitHub)

Click here to see original file

# this message contains the (relative) timestamps of the sensor inputs used by EKF2.
# It can be used for reproducible replay.

# the timestamp field is the ekf2 reference time and matches the timestamp of
# the sensor_combined topic.

uint64 timestamp			 # time since system start (microseconds)

int16 RELATIVE_TIMESTAMP_INVALID = 32767 # (0x7fff) If one of the relative timestamps
                                         # is set to this value, it means the associated sensor values did not update

# timestamps are relative to the main timestamp and are in 0.1 ms (timestamp +
# *_timestamp_rel = absolute timestamp). For int16, this allows a maximum
# difference of +-3.2s to the sensor_combined topic.

int16 airspeed_timestamp_rel
int16 airspeed_validated_timestamp_rel
int16 distance_sensor_timestamp_rel
int16 optical_flow_timestamp_rel
int16 vehicle_air_data_timestamp_rel
int16 vehicle_magnetometer_timestamp_rel
int16 visual_odometry_timestamp_rel

# Note: this is a high-rate logged topic, so it needs to be as small as possible