EstimatorAidSource1d (повідомлення UORB)

TOPICS: estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt estimator_aid_src_airspeed estimator_aid_src_sideslip estimator_aid_src_fake_hgt estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw

Fields

Назва	Тип	Unit [Frame]	Range/Enum	Опис
timestamp	uint64			time since system start (microseconds)
timestamp_sample	uint64			the timestamp of the raw data (microseconds)
estimator_instance	uint8
device_id	uint32
time_last_fuse	uint64
observation	float32
observation_variance	float32
innovation	float32
innovation_filtered	float32
innovation_variance	float32
test_ratio	float32			normalized innovation squared
test_ratio_filtered	float32			signed filtered test ratio
innovation_rejected	bool			true if the observation has been rejected
fused	bool			true if the sample was successfully fused

Source Message

Source file (GitHub)

Details

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uint64 timestamp             # time since system start (microseconds)
uint64 timestamp_sample      # the timestamp of the raw data (microseconds)

uint8 estimator_instance

uint32 device_id

uint64 time_last_fuse

float32 observation
float32 observation_variance

float32 innovation
float32 innovation_filtered

float32 innovation_variance

float32 test_ratio           # normalized innovation squared
float32 test_ratio_filtered  # signed filtered test ratio

bool innovation_rejected     # true if the observation has been rejected
bool fused                   # true if the sample was successfully fused

# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt
# TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip
# TOPICS estimator_aid_src_fake_hgt
# TOPICS estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw