msg: new estimator_status_flags message for more accessible ekf2 status logging
- log all estimator (ekf2) flags as separate booleans in a new dedicated low rate message (only publishes at 1 Hz or immediately on any change)
- this is a bit verbose, but it avoids the duplicate bit definitions we currently have across PX4 msgs, ecl analysis script, flight review, and many other custom tools and it's much easier for casual log review in FlightPlot, PlotJuggler, csv, etc
- for compatibility I've left estimator_status filter_fault_flags, innovation_check_flags, and solution_status_flags in place, but they can gradually be removed as tooling is updated
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2020-12-29 12:27:21 -04:00
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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# filter control status
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2021-01-11 12:49:51 -04:00
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uint32 control_status_changes # number of filter control status (cs) changes
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bool cs_tilt_align # 0 - true if the filter tilt alignment is complete
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bool cs_yaw_align # 1 - true if the filter yaw alignment is complete
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bool cs_gps # 2 - true if GPS measurement fusion is intended
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bool cs_opt_flow # 3 - true if optical flow measurements fusion is intended
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bool cs_mag_hdg # 4 - true if a simple magnetic yaw heading fusion is intended
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2022-07-27 01:33:16 -03:00
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bool cs_mag_3d # 5 - true if 3-axis magnetometer measurement fusion is intended
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2021-01-11 12:49:51 -04:00
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bool cs_mag_dec # 6 - true if synthetic magnetic declination measurements fusion is intended
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bool cs_in_air # 7 - true when the vehicle is airborne
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bool cs_wind # 8 - true when wind velocity is being estimated
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bool cs_baro_hgt # 9 - true when baro height is being fused as a primary height reference
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bool cs_rng_hgt # 10 - true when range finder height is being fused as a primary height reference
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bool cs_gps_hgt # 11 - true when GPS height is being fused as a primary height reference
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bool cs_ev_pos # 12 - true when local position data fusion from external vision is intended
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bool cs_ev_yaw # 13 - true when yaw data from external vision measurements fusion is intended
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bool cs_ev_hgt # 14 - true when height data from external vision measurements is being fused
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bool cs_fuse_beta # 15 - true when synthetic sideslip measurements are being fused
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bool cs_mag_field_disturbed # 16 - true when the mag field does not match the expected strength
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bool cs_fixed_wing # 17 - true when the vehicle is operating as a fixed wing vehicle
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bool cs_mag_fault # 18 - true when the magnetometer has been declared faulty and is no longer being used
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bool cs_fuse_aspd # 19 - true when airspeed measurements are being fused
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bool cs_gnd_effect # 20 - true when protection from ground effect induced static pressure rise is active
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bool cs_rng_stuck # 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
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bool cs_gps_yaw # 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended
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bool cs_mag_aligned_in_flight # 23 - true when the in-flight mag field alignment has been completed
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bool cs_ev_vel # 24 - true when local frame velocity data fusion from external vision measurements is intended
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bool cs_synthetic_mag_z # 25 - true when we are using a synthesized measurement for the magnetometer Z component
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bool cs_vehicle_at_rest # 26 - true when the vehicle is at rest
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2021-08-02 11:29:54 -03:00
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bool cs_gps_yaw_fault # 27 - true when the GNSS heading has been declared faulty and is no longer being used
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2022-02-07 05:31:28 -04:00
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bool cs_rng_fault # 28 - true when the range finder has been declared faulty and is no longer being used
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2021-12-03 12:42:05 -04:00
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bool cs_inertial_dead_reckoning # 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift
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bool cs_wind_dead_reckoning # 30 - true if we are navigationg reliant on wind relative measurements
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2022-03-21 11:31:43 -03:00
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bool cs_rng_kin_consistent # 31 - true when the range finder kinematic consistency check is passing
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2022-09-08 09:41:50 -03:00
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bool cs_fake_pos # 32 - true when fake position measurements are being fused
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2022-08-08 11:55:51 -03:00
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bool cs_fake_hgt # 33 - true when fake height measurements are being fused
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2023-02-07 14:28:58 -04:00
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bool cs_gravity_vector # 34 - true when gravity vector measurements are being fused
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2023-08-04 11:39:16 -03:00
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bool cs_mag # 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended
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bool cs_ev_yaw_fault # 36 - true when the EV heading has been declared faulty and is no longer being used
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2023-08-17 10:55:15 -03:00
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bool cs_mag_heading_consistent # 37 - true when the heading obtained from mag data is declared consistent with the filter
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2023-11-29 07:19:18 -04:00
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bool cs_aux_gpos # 38 - true if auxiliary global position measurement fusion is intended
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msg: new estimator_status_flags message for more accessible ekf2 status logging
- log all estimator (ekf2) flags as separate booleans in a new dedicated low rate message (only publishes at 1 Hz or immediately on any change)
- this is a bit verbose, but it avoids the duplicate bit definitions we currently have across PX4 msgs, ecl analysis script, flight review, and many other custom tools and it's much easier for casual log review in FlightPlot, PlotJuggler, csv, etc
- for compatibility I've left estimator_status filter_fault_flags, innovation_check_flags, and solution_status_flags in place, but they can gradually be removed as tooling is updated
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2020-12-29 12:27:21 -04:00
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# fault status
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2021-01-11 12:49:51 -04:00
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uint32 fault_status_changes # number of filter fault status (fs) changes
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bool fs_bad_mag_x # 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
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bool fs_bad_mag_y # 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error
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bool fs_bad_mag_z # 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error
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bool fs_bad_hdg # 3 - true if the fusion of the heading angle has encountered a numerical error
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bool fs_bad_mag_decl # 4 - true if the fusion of the magnetic declination has encountered a numerical error
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bool fs_bad_airspeed # 5 - true if fusion of the airspeed has encountered a numerical error
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bool fs_bad_sideslip # 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
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bool fs_bad_optflow_x # 7 - true if fusion of the optical flow X axis has encountered a numerical error
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bool fs_bad_optflow_y # 8 - true if fusion of the optical flow Y axis has encountered a numerical error
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2024-02-14 21:46:28 -04:00
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bool fs_bad_acc_bias # 9 - true if bad delta velocity bias estimates have been detected
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bool fs_bad_acc_vertical # 10 - true if bad vertical accelerometer data has been detected
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bool fs_bad_acc_clipping # 11 - true if delta velocity data contains clipping (asymmetric railing)
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msg: new estimator_status_flags message for more accessible ekf2 status logging
- log all estimator (ekf2) flags as separate booleans in a new dedicated low rate message (only publishes at 1 Hz or immediately on any change)
- this is a bit verbose, but it avoids the duplicate bit definitions we currently have across PX4 msgs, ecl analysis script, flight review, and many other custom tools and it's much easier for casual log review in FlightPlot, PlotJuggler, csv, etc
- for compatibility I've left estimator_status filter_fault_flags, innovation_check_flags, and solution_status_flags in place, but they can gradually be removed as tooling is updated
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2020-12-29 12:27:21 -04:00
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# innovation test failures
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2021-01-11 12:49:51 -04:00
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uint32 innovation_fault_status_changes # number of innovation fault status (reject) changes
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msg: new estimator_status_flags message for more accessible ekf2 status logging
- log all estimator (ekf2) flags as separate booleans in a new dedicated low rate message (only publishes at 1 Hz or immediately on any change)
- this is a bit verbose, but it avoids the duplicate bit definitions we currently have across PX4 msgs, ecl analysis script, flight review, and many other custom tools and it's much easier for casual log review in FlightPlot, PlotJuggler, csv, etc
- for compatibility I've left estimator_status filter_fault_flags, innovation_check_flags, and solution_status_flags in place, but they can gradually be removed as tooling is updated
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2020-12-29 12:27:21 -04:00
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bool reject_hor_vel # 0 - true if horizontal velocity observations have been rejected
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bool reject_ver_vel # 1 - true if vertical velocity observations have been rejected
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bool reject_hor_pos # 2 - true if horizontal position observations have been rejected
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bool reject_ver_pos # 3 - true if vertical position observations have been rejected
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bool reject_yaw # 7 - true if the yaw observation has been rejected
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bool reject_airspeed # 8 - true if the airspeed observation has been rejected
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bool reject_sideslip # 9 - true if the synthetic sideslip observation has been rejected
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bool reject_hagl # 10 - true if the height above ground observation has been rejected
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bool reject_optflow_x # 11 - true if the X optical flow observation has been rejected
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bool reject_optflow_y # 12 - true if the Y optical flow observation has been rejected
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