HoverThrustEstimate (UORB message)
TOPICS: hover_thrust_estimate
Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
|---|---|---|---|---|
| timestamp | uint64 | time since system start (microseconds) | ||
| timestamp_sample | uint64 | time of corresponding sensor data last used for this estimate | ||
| hover_thrust | float32 | estimated hover thrust [0.1, 0.9] | ||
| hover_thrust_var | float32 | estimated hover thrust variance | ||
| accel_innov | float32 | innovation of the last acceleration fusion | ||
| accel_innov_var | float32 | innovation variance of the last acceleration fusion | ||
| accel_innov_test_ratio | float32 | normalized innovation squared test ratio | ||
| accel_noise_var | float32 | vertical acceleration noise variance estimated form innovation residual | ||
| valid | bool |
Source Message
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c
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # time of corresponding sensor data last used for this estimate
float32 hover_thrust # estimated hover thrust [0.1, 0.9]
float32 hover_thrust_var # estimated hover thrust variance
float32 accel_innov # innovation of the last acceleration fusion
float32 accel_innov_var # innovation variance of the last acceleration fusion
float32 accel_innov_test_ratio # normalized innovation squared test ratio
float32 accel_noise_var # vertical acceleration noise variance estimated form innovation residual
bool valid