EstimatorBias (UORB message)
TOPICS: estimator_baro_bias estimator_gnss_hgt_bias
Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
|---|---|---|---|---|
| timestamp | uint64 | time since system start (microseconds) | ||
| timestamp_sample | uint64 | the timestamp of the raw data (microseconds) | ||
| device_id | uint32 | unique device ID for the sensor that does not change between power cycles | ||
| bias | float32 | estimated barometric altitude bias (m) | ||
| bias_var | float32 | estimated barometric altitude bias variance (m^2) | ||
| innov | float32 | innovation of the last measurement fusion (m) | ||
| innov_var | float32 | innovation variance of the last measurement fusion (m^2) | ||
| innov_test_ratio | float32 | normalized innovation squared test ratio |
Source Message
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c
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
uint32 device_id # unique device ID for the sensor that does not change between power cycles
float32 bias # estimated barometric altitude bias (m)
float32 bias_var # estimated barometric altitude bias variance (m^2)
float32 innov # innovation of the last measurement fusion (m)
float32 innov_var # innovation variance of the last measurement fusion (m^2)
float32 innov_test_ratio # normalized innovation squared test ratio
# TOPICS estimator_baro_bias estimator_gnss_hgt_bias