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35 lines
818 B
35 lines
818 B
uint64 timestamp # time since system start (microseconds) |
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float32[5] coeff # coefficients of the identified discrete-time model |
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float32[5] coeff_var # coefficients' variance of the identified discrete-time model |
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float32 fitness # fitness of the parameter estimate |
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float32 innov |
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float32 dt_model |
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float32 kc |
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float32 ki |
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float32 kd |
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float32 kff |
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float32 att_p |
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float32[3] rate_sp |
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float32 u_filt |
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float32 y_filt |
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uint8 STATE_IDLE = 0 |
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uint8 STATE_INIT = 1 |
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uint8 STATE_ROLL = 2 |
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uint8 STATE_ROLL_PAUSE = 3 |
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uint8 STATE_PITCH = 4 |
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uint8 STATE_PITCH_PAUSE = 5 |
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uint8 STATE_YAW = 6 |
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uint8 STATE_YAW_PAUSE = 7 |
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uint8 STATE_VERIFICATION = 8 |
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uint8 STATE_APPLY = 9 |
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uint8 STATE_TEST = 10 |
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uint8 STATE_COMPLETE = 11 |
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uint8 STATE_FAIL = 12 |
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uint8 STATE_WAIT_FOR_DISARM = 13 |
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uint8 state
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