EstimatorInnovations (UORB message)
TOPICS: estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios
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) | ||
| gps_hvel | float32[2] | horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2) | ||
float32 | vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2) | |||
| gps_hpos | float32[2] | horizontal GPS position innovation (m) and innovation variance (m**2) | ||
float32 | vertical GPS position innovation (m) and innovation variance (m**2) | |||
| ev_hvel | float32[2] | horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2) | ||
float32 | vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2) | |||
| ev_hpos | float32[2] | horizontal external vision position innovation (m) and innovation variance (m**2) | ||
float32 | vertical external vision position innovation (m) and innovation variance (m**2) | |||
| rng_vpos | float32 | range sensor height innovation (m) and innovation variance (m**2) | ||
| baro_vpos | float32 | barometer height innovation (m) and innovation variance (m**2) | ||
| aux_hvel | float32[2] | horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2) | ||
| flow | float32[2] | flow innvoation (rad/sec) and innovation variance ((rad/sec)**2) | ||
| heading | float32 | heading innovation (rad) and innovation variance (rad**2) | ||
| mag_field | float32[3] | earth magnetic field innovation (Gauss) and innovation variance (Gauss**2) | ||
| gravity | float32[3] | gravity innovation from accelerometerr vector (m/s**2) | ||
| drag | float32[2] | drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2) | ||
| airspeed | float32 | airspeed innovation (m/sec) and innovation variance ((m/sec)**2) | ||
| beta | float32 | synthetic sideslip innovation (rad) and innovation variance (rad**2) | ||
| hagl | float32 | height of ground innovation (m) and innovation variance (m**2) | ||
| hagl_rate | float32 | height of ground rate innovation (m/s) and innovation variance ((m/s)**2) |
Source Message
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c
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
# GPS
float32[2] gps_hvel # horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)
float32 gps_vvel # vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)
float32[2] gps_hpos # horizontal GPS position innovation (m) and innovation variance (m**2)
float32 gps_vpos # vertical GPS position innovation (m) and innovation variance (m**2)
# External Vision
float32[2] ev_hvel # horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)
float32 ev_vvel # vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)
float32[2] ev_hpos # horizontal external vision position innovation (m) and innovation variance (m**2)
float32 ev_vpos # vertical external vision position innovation (m) and innovation variance (m**2)
# Height sensors
float32 rng_vpos # range sensor height innovation (m) and innovation variance (m**2)
float32 baro_vpos # barometer height innovation (m) and innovation variance (m**2)
# Auxiliary velocity
float32[2] aux_hvel # horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
# Optical flow
float32[2] flow # flow innvoation (rad/sec) and innovation variance ((rad/sec)**2)
# Various
float32 heading # heading innovation (rad) and innovation variance (rad**2)
float32[3] mag_field # earth magnetic field innovation (Gauss) and innovation variance (Gauss**2)
float32[3] gravity # gravity innovation from accelerometerr vector (m/s**2)
float32[2] drag # drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2)
float32 airspeed # airspeed innovation (m/sec) and innovation variance ((m/sec)**2)
float32 beta # synthetic sideslip innovation (rad) and innovation variance (rad**2)
float32 hagl # height of ground innovation (m) and innovation variance (m**2)
float32 hagl_rate # height of ground rate innovation (m/s) and innovation variance ((m/s)**2)
# The innovation test ratios are scalar values. In case the field is a vector,
# the test ratio will be put in the first component of the vector.
# TOPICS estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios