EstimatorEventFlags (повідомлення UORB)

source file

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