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39 lines
2.0 KiB
39 lines
2.0 KiB
uint64 time_ref # ekf2 reference time. This is a timestamp passed to the |
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# estimator which it uses a absolute reference. |
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uint64 gyro_integral_dt # gyro integration period in us |
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uint64 accelerometer_integral_dt # accelerometer integration period in us |
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uint64 magnetometer_timestamp # timestamp of magnetometer measurement in us |
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uint64 baro_timestamp # timestamp of barometer measurement in us |
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uint64 rng_timestamp # timestamp of range finder measurement in us |
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uint64 flow_timestamp # timestamp of optical flow measurement in us |
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float32[3] gyro_integral_rad # integrated gyro vector in rad |
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float32[3] accelerometer_integral_m_s # integrated accelerometer vector in m/s |
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float32[3] magnetometer_ga # magnetometer measurement vector (body fixed NED) in ga |
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float32 baro_alt_meter # barometer altitude measurement in m |
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uint64 time_usec # timestamp of gps position measurement in us |
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uint64 time_usec_vel # timestamp of gps velocity measurement in us |
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int32 lat # Latitude in 1E-7 degrees |
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int32 lon # Longitude in 1E-7 degrees |
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int32 alt # Altitude in 1E-3 meters above MSL, (millimetres) |
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uint8 fix_type |
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uint8 nsats # number of GPS satellites used by the receiver |
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float32 eph # GPS horizontal position accuracy (metres) |
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float32 epv # GPS vertical position accuracy (metres) |
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float32 sacc # GPS speed accuracy (metres/sec) |
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float32 vel_m_s # GPS ground speed, (metres/sec) |
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float32 vel_n_m_s # GPS North velocity, (metres/sec) |
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float32 vel_e_m_s # GPS East velocity, (metres/sec) |
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float32 vel_d_m_s # GPS Down velocity, (metres/sec) |
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bool vel_ned_valid # True if NED velocity is valid |
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# range finder measurements |
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float32 range_to_ground # range finder measured range to ground (m) |
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# optical flow sensor measurements |
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float32[2] flow_pixel_integral # integrated optical flow rate around x and y axes (rad) |
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float32[2] flow_gyro_integral # integrated gyro rate around x and y axes (rad) |
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uint32 flow_time_integral # integration timespan (usec) |
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uint8 flow_quality # Quality of accumulated optical flow data (0 - 255)
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