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19 lines
1.0 KiB
19 lines
1.0 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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