VteAidSource3d (UORB message)
Vision Target Estimator 3D fusion aid-source diagnostics, one fusion_status per NED axis.
Published by: vision_target_estimator (VTEPosition) on every fusion attempt, including rejected ones. Subscribed by: logger only. Inspect observation, innovation, test_ratio, and per-axis fusion_status to debug why a measurement was or was not fused.
TOPICS: vte_aid_gps_pos_target vte_aid_gps_pos_mission vte_aid_gps_vel_target vte_aid_gps_vel_uav vte_aid_fiducial_marker
Fields
| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
|---|---|---|---|---|
| timestamp | uint64 | us | Time since system start | |
| timestamp_sample | uint64 | us | Timestamp of the raw observation | |
| time_last_predict | uint64 | us | Timestamp of last filter prediction | |
| observation | float32[3] | [NED] | Sensor observation attempted to be fused | |
| observation_variance | float32[3] | [NED] | Variance of the observation attempted to be fused | |
| innovation | float32[3] | [NED] | Kalman Filter innovation (y = z - Hx) | |
| innovation_variance | float32[3] | [NED] | Kalman Filter variance of the innovation | |
| test_ratio | float32[3] | Normalized innovation squared (NIS) | ||
| fusion_status | uint8[3] | VTE_FUSION_STATUS | Fusion status code per axis | |
| time_since_meas_ms | float32 | ms | (now - timestamp_sample) | |
| history_steps | uint8 | Number of steps replayed in OOSM (0 if current or failed) |
Enums
VTE_FUSION_STATUS
Used in field(s): fusion_status
| 参数名 | 类型 | 值 | 描述 |
|---|
Constants
Source Message
Details
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c
# Vision Target Estimator 3D fusion aid-source diagnostics, one fusion_status per NED axis.
#
# Published by: vision_target_estimator (VTEPosition) on every fusion attempt, including rejected ones.
# Subscribed by: logger only. Inspect observation, innovation, test_ratio, and per-axis fusion_status to debug why a measurement was or was not fused.
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Timestamp of the raw observation
uint64 time_last_predict # [us] Timestamp of last filter prediction
# Observation & Innovation
float32[3] observation # [-] [@frame NED] Sensor observation attempted to be fused
float32[3] observation_variance # [-] [@frame NED] Variance of the observation attempted to be fused
float32[3] innovation # [-] [@frame NED] Kalman Filter innovation (y = z - Hx)
float32[3] innovation_variance # [-] [@frame NED] Kalman Filter variance of the innovation
float32[3] test_ratio # [-] Normalized innovation squared (NIS)
uint8[3] fusion_status # [@enum VTE_FUSION_STATUS] Fusion status code per axis
uint8 STATUS_IDLE = 0 # No fusion attempted yet
uint8 STATUS_FUSED_CURRENT = 1 # Fused immediately (low latency)
uint8 STATUS_FUSED_OOSM = 2 # Fused via history buffer
uint8 STATUS_REJECT_NIS = 3 # Rejected by Normalized Innovation Squared check
uint8 STATUS_REJECT_COV = 4 # Rejected due to invalid/infinite covariance or numerical error
uint8 STATUS_REJECT_TOO_OLD = 5 # Rejected: older than buffer limit (kOosmMaxTimeUs) or oldest sample
uint8 STATUS_REJECT_TOO_NEW = 6 # Rejected: timestamp in the future (beyond tolerance)
uint8 STATUS_REJECT_STALE = 7 # Rejected: history was reset due to staleness/discontinuity
uint8 STATUS_REJECT_EMPTY = 8 # Rejected: history buffer not yet populated
# OOSM Diagnostics (Shared across axes)
float32 time_since_meas_ms # [ms] (now - timestamp_sample)
uint8 history_steps # [-] Number of steps replayed in OOSM (0 if current or failed)
# TOPICS vte_aid_gps_pos_target vte_aid_gps_pos_mission vte_aid_gps_vel_target vte_aid_gps_vel_uav
# TOPICS vte_aid_fiducial_marker