EstimatorFusionControl (UORB message)

TOPICS: estimator_fusion_control

Fields

명칭	형식	Unit [Frame]	Range/Enum	설명
timestamp	uint64			time since system start (microseconds)
gps_intended	bool[2]
of_intended	bool
ev_intended	bool
agp_intended	bool[4]
baro_intended	bool
rng_intended	bool
mag_intended	bool
aspd_intended	bool
rngbcn_intended	bool
gps_active	bool[2]
of_active	bool
ev_active	bool
agp_active	bool[4]
baro_active	bool
rng_active	bool
mag_active	bool
aspd_active	bool
rngbcn_active	bool

Source Message

Source file (GitHub)

Details

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uint64 timestamp                # time since system start (microseconds)

# sensor intended for fusion (enabled via EKF2_SENS_EN AND CTRL param != disabled)
bool[2] gps_intended
bool of_intended
bool ev_intended
bool[4] agp_intended
bool baro_intended
bool rng_intended
bool mag_intended
bool aspd_intended
bool rngbcn_intended

# whether the estimator is actively fusing data from each source
bool[2] gps_active
bool of_active
bool ev_active
bool[4] agp_active
bool baro_active
bool rng_active
bool mag_active
bool aspd_active
bool rngbcn_active