EstimatorStatusFlags (UORB message)
TOPICS: estimator_statusflags
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) | ||
| control_status_changes | uint32 | number of filter control status (cs) changes | ||
| cs_tilt_align | bool | 0 - true if the filter tilt alignment is complete | ||
| cs_yaw_align | bool | 1 - true if the filter yaw alignment is complete | ||
| cs_gnss_pos | bool | 2 - true if GNSS position measurement fusion is intended | ||
| cs_opt_flow | bool | 3 - true if optical flow measurements fusion is intended | ||
| cs_mag_hdg | bool | 4 - true if a simple magnetic yaw heading fusion is intended | ||
| cs_mag_3d | bool | 5 - true if 3-axis magnetometer measurement fusion is intended | ||
| cs_mag_dec | bool | 6 - true if synthetic magnetic declination measurements fusion is intended | ||
| cs_in_air | bool | 7 - true when the vehicle is airborne | ||
| cs_wind | bool | 8 - true when wind velocity is being estimated | ||
| cs_baro_hgt | bool | 9 - true when baro data is being fused | ||
| cs_rng_hgt | bool | 10 - true when range finder data is being fused for height aiding | ||
| cs_gps_hgt | bool | 11 - true when GPS altitude is being fused | ||
| cs_ev_pos | bool | 12 - true when local position data fusion from external vision is intended | ||
| cs_ev_yaw | bool | 13 - true when yaw data from external vision measurements fusion is intended | ||
| cs_ev_hgt | bool | 14 - true when height data from external vision measurements is being fused | ||
| cs_fuse_beta | bool | 15 - true when synthetic sideslip measurements are being fused | ||
| cs_mag_field_disturbed | bool | 16 - true when the mag field does not match the expected strength | ||
| cs_fixed_wing | bool | 17 - true when the vehicle is operating as a fixed wing vehicle | ||
| cs_mag_fault | bool | 18 - true when the magnetometer has been declared faulty and is no longer being used | ||
| cs_fuse_aspd | bool | 19 - true when airspeed measurements are being fused | ||
| cs_gnd_effect | bool | 20 - true when protection from ground effect induced static pressure rise is active | ||
| cs_rng_stuck | bool | 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough | ||
| cs_gnss_yaw | bool | 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended | ||
| cs_mag_aligned_in_flight | bool | 23 - true when the in-flight mag field alignment has been completed | ||
| cs_ev_vel | bool | 24 - true when local frame velocity data fusion from external vision measurements is intended | ||
| cs_synthetic_mag_z | bool | 25 - true when we are using a synthesized measurement for the magnetometer Z component | ||
| cs_vehicle_at_rest | bool | 26 - true when the vehicle is at rest | ||
| cs_gnss_yaw_fault | bool | 27 - true when the GNSS heading has been declared faulty and is no longer being used | ||
| cs_rng_fault | bool | 28 - true when the range finder has been declared faulty and is no longer being used | ||
| cs_inertial_dead_reckoning | bool | 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift | ||
| cs_wind_dead_reckoning | bool | 30 - true if we are navigationg reliant on wind relative measurements | ||
| cs_rng_kin_consistent | bool | 31 - true when the range finder kinematic consistency check is passing | ||
| cs_fake_pos | bool | 32 - true when fake position measurements are being fused | ||
| cs_fake_hgt | bool | 33 - true when fake height measurements are being fused | ||
| cs_gravity_vector | bool | 34 - true when gravity vector measurements are being fused | ||
| cs_mag | bool | 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended | ||
| cs_ev_yaw_fault | bool | 36 - true when the EV heading has been declared faulty and is no longer being used | ||
| cs_mag_heading_consistent | bool | 37 - true when the heading obtained from mag data is declared consistent with the filter | ||
| cs_aux_gpos | bool | 38 - true if auxiliary global position measurement fusion is intended | ||
| cs_rng_terrain | bool | 39 - true if we are fusing range finder data for terrain | ||
| cs_opt_flow_terrain | bool | 40 - true if we are fusing flow data for terrain | ||
| cs_valid_fake_pos | bool | 41 - true if a valid constant position is being fused | ||
| cs_constant_pos | bool | 42 - true if the vehicle is at a constant position | ||
| cs_baro_fault | bool | 43 - true when the current baro has been declared faulty and is no longer being used | ||
| cs_gnss_vel | bool | 44 - true if GNSS velocity measurement fusion is intended | ||
| cs_gnss_fault | bool | 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty | ||
| cs_yaw_manual | bool | 46 - true if yaw has been set manually | ||
| cs_gnss_hgt_fault | bool | 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty | ||
| fault_status_changes | uint32 | number of filter fault status (fs) changes | ||
| fs_bad_mag_x | bool | 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error | ||
| fs_bad_mag_y | bool | 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error | ||
| fs_bad_mag_z | bool | 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error | ||
| fs_bad_hdg | bool | 3 - true if the fusion of the heading angle has encountered a numerical error | ||
| fs_bad_mag_decl | bool | 4 - true if the fusion of the magnetic declination has encountered a numerical error | ||
| fs_bad_airspeed | bool | 5 - true if fusion of the airspeed has encountered a numerical error | ||
| fs_bad_sideslip | bool | 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error | ||
| fs_bad_optflow_x | bool | 7 - true if fusion of the optical flow X axis has encountered a numerical error | ||
| fs_bad_optflow_y | bool | 8 - true if fusion of the optical flow Y axis has encountered a numerical error | ||
| fs_bad_acc_vertical | bool | 10 - true if bad vertical accelerometer data has been detected | ||
| fs_bad_acc_clipping | bool | 11 - true if delta velocity data contains clipping (asymmetric railing) |
Source Message
Details
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c
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
# filter control status
uint32 control_status_changes # number of filter control status (cs) changes
bool cs_tilt_align # 0 - true if the filter tilt alignment is complete
bool cs_yaw_align # 1 - true if the filter yaw alignment is complete
bool cs_gnss_pos # 2 - true if GNSS position measurement fusion is intended
bool cs_opt_flow # 3 - true if optical flow measurements fusion is intended
bool cs_mag_hdg # 4 - true if a simple magnetic yaw heading fusion is intended
bool cs_mag_3d # 5 - true if 3-axis magnetometer measurement fusion is intended
bool cs_mag_dec # 6 - true if synthetic magnetic declination measurements fusion is intended
bool cs_in_air # 7 - true when the vehicle is airborne
bool cs_wind # 8 - true when wind velocity is being estimated
bool cs_baro_hgt # 9 - true when baro data is being fused
bool cs_rng_hgt # 10 - true when range finder data is being fused for height aiding
bool cs_gps_hgt # 11 - true when GPS altitude is being fused
bool cs_ev_pos # 12 - true when local position data fusion from external vision is intended
bool cs_ev_yaw # 13 - true when yaw data from external vision measurements fusion is intended
bool cs_ev_hgt # 14 - true when height data from external vision measurements is being fused
bool cs_fuse_beta # 15 - true when synthetic sideslip measurements are being fused
bool cs_mag_field_disturbed # 16 - true when the mag field does not match the expected strength
bool cs_fixed_wing # 17 - true when the vehicle is operating as a fixed wing vehicle
bool cs_mag_fault # 18 - true when the magnetometer has been declared faulty and is no longer being used
bool cs_fuse_aspd # 19 - true when airspeed measurements are being fused
bool cs_gnd_effect # 20 - true when protection from ground effect induced static pressure rise is active
bool cs_rng_stuck # 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
bool cs_gnss_yaw # 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended
bool cs_mag_aligned_in_flight # 23 - true when the in-flight mag field alignment has been completed
bool cs_ev_vel # 24 - true when local frame velocity data fusion from external vision measurements is intended
bool cs_synthetic_mag_z # 25 - true when we are using a synthesized measurement for the magnetometer Z component
bool cs_vehicle_at_rest # 26 - true when the vehicle is at rest
bool cs_gnss_yaw_fault # 27 - true when the GNSS heading has been declared faulty and is no longer being used
bool cs_rng_fault # 28 - true when the range finder has been declared faulty and is no longer being used
bool cs_inertial_dead_reckoning # 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift
bool cs_wind_dead_reckoning # 30 - true if we are navigationg reliant on wind relative measurements
bool cs_rng_kin_consistent # 31 - true when the range finder kinematic consistency check is passing
bool cs_fake_pos # 32 - true when fake position measurements are being fused
bool cs_fake_hgt # 33 - true when fake height measurements are being fused
bool cs_gravity_vector # 34 - true when gravity vector measurements are being fused
bool cs_mag # 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended
bool cs_ev_yaw_fault # 36 - true when the EV heading has been declared faulty and is no longer being used
bool cs_mag_heading_consistent # 37 - true when the heading obtained from mag data is declared consistent with the filter
bool cs_aux_gpos # 38 - true if auxiliary global position measurement fusion is intended
bool cs_rng_terrain # 39 - true if we are fusing range finder data for terrain
bool cs_opt_flow_terrain # 40 - true if we are fusing flow data for terrain
bool cs_valid_fake_pos # 41 - true if a valid constant position is being fused
bool cs_constant_pos # 42 - true if the vehicle is at a constant position
bool cs_baro_fault # 43 - true when the current baro has been declared faulty and is no longer being used
bool cs_gnss_vel # 44 - true if GNSS velocity measurement fusion is intended
bool cs_gnss_fault # 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty
bool cs_yaw_manual # 46 - true if yaw has been set manually
bool cs_gnss_hgt_fault # 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty
# fault status
uint32 fault_status_changes # number of filter fault status (fs) changes
bool fs_bad_mag_x # 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
bool fs_bad_mag_y # 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error
bool fs_bad_mag_z # 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error
bool fs_bad_hdg # 3 - true if the fusion of the heading angle has encountered a numerical error
bool fs_bad_mag_decl # 4 - true if the fusion of the magnetic declination has encountered a numerical error
bool fs_bad_airspeed # 5 - true if fusion of the airspeed has encountered a numerical error
bool fs_bad_sideslip # 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
bool fs_bad_optflow_x # 7 - true if fusion of the optical flow X axis has encountered a numerical error
bool fs_bad_optflow_y # 8 - true if fusion of the optical flow Y axis has encountered a numerical error
bool fs_bad_acc_vertical # 10 - true if bad vertical accelerometer data has been detected
bool fs_bad_acc_clipping # 11 - true if delta velocity data contains clipping (asymmetric railing)