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34 lines
1.9 KiB
34 lines
1.9 KiB
uint64 timestamp # Timestamp in microseconds since boot |
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float32[32] states # Internal filter states |
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float32 n_states # Number of states effectively used |
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float32[3] vibe # Vibration levels in X, Y and Z |
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uint8 nan_flags # Bitmask to indicate NaN states |
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uint8 health_flags # Bitmask to indicate sensor health states (vel, pos, hgt) |
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uint8 timeout_flags # Bitmask to indicate timeout flags (vel, pos, hgt) |
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float32[28] covariances # Diagonal Elements of Covariance Matrix |
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uint16 gps_check_fail_flags # Bitmask to indicate status of GPS checks - see definition below |
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# bits are true when corresponding test has failed |
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# 0 : minimum required sat count fail |
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# 1 : minimum required GDoP fail |
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# 2 : maximum allowed horizontal position error fail |
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# 3 : maximum allowed vertical position error fail |
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# 4 : maximum allowed speed error fail |
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# 5 : maximum allowed horizontal position drift fail |
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# 6 : maximum allowed vertical position drift fail |
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# 7 : maximum allowed horizontal speed fail |
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# 8 : maximum allowed vertical velocity discrepancy fail |
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uint16 control_mode_flags # Bitmask to indicate EKF logic state |
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# 0 - true if the filter tilt alignment is complete |
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# 1 - true if the filter yaw alignment is complete |
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# 2 - true if GPS measurements are being fused |
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# 3 - true if optical flow measurements are being fused |
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# 4 - true if a simple magnetic yaw heading is being fused |
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# 5 - true if the horizontal projection of magnetometer data is being fused |
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# 6 - true if 3-axis magnetometer measurement are being fused |
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# 7 - true if synthetic magnetic declination measurements are being fused |
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# 8 - true when the vehicle is airborne |
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# 9 - true when the vehicle motors are armed |
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# 10 - true when wind velocity is being estimated |
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# 11 - true when baro height is being fused as a primary height reference |
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# 12 - true when range finder height is being fused as a primary height reference |
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# 15 - true when range finder height is being fused as a primary height reference
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