EstimatorEventFlags (повідомлення UORB)

TOPICS: estimator_eventflags

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)
information_event_changes	uint32			number of information event changes
gps_checks_passed	bool			0 - true when gps quality checks are passing passed
reset_vel_to_gps	bool			1 - true when the velocity states are reset to the gps measurement
reset_vel_to_flow	bool			2 - true when the velocity states are reset using the optical flow measurement
reset_vel_to_vision	bool			3 - true when the velocity states are reset to the vision system measurement
reset_vel_to_zero	bool			4 - true when the velocity states are reset to zero
reset_pos_to_last_known	bool			5 - true when the position states are reset to the last known position
reset_pos_to_gps	bool			6 - true when the position states are reset to the gps measurement
reset_pos_to_vision	bool			7 - true when the position states are reset to the vision system measurement
starting_gps_fusion	bool			8 - true when the filter starts using gps measurements to correct the state estimates
starting_vision_pos_fusion	bool			9 - true when the filter starts using vision system position measurements to correct the state estimates
starting_vision_vel_fusion	bool			10 - true when the filter starts using vision system velocity measurements to correct the state estimates
starting_vision_yaw_fusion	bool			11 - true when the filter starts using vision system yaw measurements to correct the state estimates
yaw_aligned_to_imu_gps	bool			12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
reset_hgt_to_baro	bool			13 - true when the vertical position state is reset to the baro measurement
reset_hgt_to_gps	bool			14 - true when the vertical position state is reset to the gps measurement
reset_hgt_to_rng	bool			15 - true when the vertical position state is reset to the rng measurement
reset_hgt_to_ev	bool			16 - true when the vertical position state is reset to the ev measurement

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)

# information events
uint32 information_event_changes        # number of information event changes
bool gps_checks_passed                  #  0 - true when gps quality checks are passing passed
bool reset_vel_to_gps                   #  1 - true when the velocity states are reset to the gps measurement
bool reset_vel_to_flow                  #  2 - true when the velocity states are reset using the optical flow measurement
bool reset_vel_to_vision                #  3 - true when the velocity states are reset to the vision system measurement
bool reset_vel_to_zero                  #  4 - true when the velocity states are reset to zero
bool reset_pos_to_last_known            #  5 - true when the position states are reset to the last known position
bool reset_pos_to_gps                   #  6 - true when the position states are reset to the gps measurement
bool reset_pos_to_vision                #  7 - true when the position states are reset to the vision system measurement
bool starting_gps_fusion                #  8 - true when the filter starts using gps measurements to correct the state estimates
bool starting_vision_pos_fusion         #  9 - true when the filter starts using vision system position measurements to correct the state estimates
bool starting_vision_vel_fusion         # 10 - true when the filter starts using vision system velocity measurements to correct the state estimates
bool starting_vision_yaw_fusion         # 11 - true when the filter starts using vision system yaw  measurements to correct the state estimates
bool yaw_aligned_to_imu_gps             # 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
bool reset_hgt_to_baro                  # 13 - true when the vertical position state is reset to the baro measurement
bool reset_hgt_to_gps                   # 14 - true when the vertical position state is reset to the gps measurement
bool reset_hgt_to_rng                   # 15 - true when the vertical position state is reset to the rng measurement
bool reset_hgt_to_ev                    # 16 - true when the vertical position state is reset to the ev measurement