VteBiasInitStatus (UORB message)

Diagnostics for the initial GNSS/vision bias averaging phase in the Vision Target Estimator.

Published by: vision_target_estimator (VTEPosition) while the bias low-pass filter is running. Subscribed by: logger only, to verify that the bias settles before the estimator starts fusing vision.

TOPICS: vte_bias_init_status

Fields

Назва	Тип	Unit [Frame]	Range/Enum	Опис
timestamp	uint64	us		Time since system start
raw_bias	float32[3]	m [NED]		Current GNSS-vision bias sample
filtered_bias	float32[3]	m [NED]		Low-pass filtered bias sample
delta_norm	float32	m		norm(raw_bias_k - raw_bias_k-1)

Source Message

Source file (GitHub)

Details

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# Diagnostics for the initial GNSS/vision bias averaging phase in the Vision Target Estimator.
#
# Published by: vision_target_estimator (VTEPosition) while the bias low-pass filter is running.
# Subscribed by: logger only, to verify that the bias settles before the estimator starts fusing vision.

uint64 timestamp # [us] Time since system start

float32[3] raw_bias # [m] [@frame NED] Current GNSS-vision bias sample
float32[3] filtered_bias # [m] [@frame NED] Low-pass filtered bias sample
float32 delta_norm # [m] norm(raw_bias_k - raw_bias_k-1)