You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
51 lines
2.6 KiB
51 lines
2.6 KiB
uint64 time_ref # ekf2 reference time. This is a timestamp passed to the |
|
# estimator which it uses a absolute reference. |
|
uint64 gyro_integral_dt # gyro integration period in us |
|
uint64 accelerometer_integral_dt # accelerometer integration period in us |
|
uint64 magnetometer_timestamp # timestamp of magnetometer measurement in us |
|
uint64 baro_timestamp # timestamp of barometer measurement in us |
|
uint64 rng_timestamp # timestamp of range finder measurement in us |
|
uint64 flow_timestamp # timestamp of optical flow measurement in us |
|
uint64 asp_timestamp # timestamp of airspeed measurement in us |
|
uint64 ev_timestamp # timestamp of external vision measurement in us |
|
|
|
float32[3] gyro_integral_rad # integrated gyro vector in rad |
|
float32[3] accelerometer_integral_m_s # integrated accelerometer vector in m/s |
|
|
|
float32[3] magnetometer_ga # magnetometer measurement vector (body fixed NED) in ga |
|
float32 baro_alt_meter # barometer altitude measurement in m |
|
|
|
uint64 time_usec # timestamp of gps position measurement in us |
|
uint64 time_usec_vel # timestamp of gps velocity measurement in us |
|
int32 lat # Latitude in 1E-7 degrees |
|
int32 lon # Longitude in 1E-7 degrees |
|
int32 alt # Altitude in 1E-3 meters above MSL, (millimetres) |
|
uint8 fix_type |
|
uint8 nsats # number of GPS satellites used by the receiver |
|
float32 eph # GPS horizontal position accuracy (metres) |
|
float32 epv # GPS vertical position accuracy (metres) |
|
float32 sacc # GPS speed accuracy (metres/sec) |
|
float32 vel_m_s # GPS ground speed, (metres/sec) |
|
float32 vel_n_m_s # GPS North velocity, (metres/sec) |
|
float32 vel_e_m_s # GPS East velocity, (metres/sec) |
|
float32 vel_d_m_s # GPS Down velocity, (metres/sec) |
|
bool vel_ned_valid # True if NED velocity is valid |
|
|
|
# range finder measurements |
|
float32 range_to_ground # range finder measured range to ground (m) |
|
|
|
# optical flow sensor measurements |
|
float32[2] flow_pixel_integral # integrated optical flow rate around x and y axes (rad) |
|
float32[2] flow_gyro_integral # integrated gyro rate around x and y axes (rad) |
|
uint32 flow_time_integral # integration timespan (usec) |
|
uint8 flow_quality # Quality of accumulated optical flow data (0 - 255) |
|
|
|
# airspeed |
|
float32 indicated_airspeed_m_s # indicated airspeed in meters per second, -1 if unknown |
|
float32 true_airspeed_m_s # true filtered airspeed in meters per second, -1 if unknown |
|
|
|
# external vision measurements |
|
float32[3] pos_ev # position in earth (NED) frame (metres) |
|
float32[4] quat_ev # quaternion rotation from earth (NED) to body (XYZ) frame |
|
float32 pos_err # position error 1-std for each axis (metres) |
|
float32 ang_err # angular error 1-std for each axis (rad)
|
|
|