EstimatorAidSource2d (UORB message)

TOPICS: estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position estimator_aid_src_aux_vel estimator_aid_src_optical_flow estimator_aid_src_drag

Fields

参数名	类型	Unit [Frame]	Range/Enum	描述
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	float64[2]
observation_variance	float32[2]
innovation	float32[2]
innovation_filtered	float32[2]
innovation_variance	float32[2]
test_ratio	float32[2]			normalized innovation squared
test_ratio_filtered	float32[2]			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)

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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

float64[2] observation
float32[2] observation_variance

float32[2] innovation
float32[2] innovation_filtered

float32[2] innovation_variance

float32[2] test_ratio           # normalized innovation squared
float32[2] 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_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position
# TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow
# TOPICS estimator_aid_src_drag