px4-firmware/msg/EstimatorBias.msg

uint64 timestamp                # time since system start (microseconds)
uint64 timestamp_sample         # the timestamp of the raw data (microseconds)

uint32 device_id		# unique device ID for the sensor that does not change between power cycles
float32 bias			# estimated barometric altitude bias (m)
float32 bias_var		# estimated barometric altitude bias variance (m^2)

float32 innov			# innovation of the last measurement fusion (m)
float32 innov_var		# innovation variance of the last measurement fusion (m^2)
float32 innov_test_ratio	# normalized innovation squared test ratio

# TOPICS estimator_baro_bias estimator_gnss_hgt_bias estimator_rng_hgt_bias
EKF: add baro bias estimator using GNSS altitude 2021-07-19 09:36:40 -03:00			`uint64 timestamp # time since system start (microseconds)`
			`uint64 timestamp_sample # the timestamp of the raw data (microseconds)`

estimator_aid_source split GNSS pos (3d) -> pos (2d) + hgt - per estimator air source status only keep a single set of flags and timestamp that applies to the entire source 2022-10-12 10:59:23 -03:00			`uint32 device_id # unique device ID for the sensor that does not change between power cycles`
EKF: add baro bias estimator using GNSS altitude 2021-07-19 09:36:40 -03:00			`float32 bias # estimated barometric altitude bias (m)`
			`float32 bias_var # estimated barometric altitude bias variance (m^2)`

			`float32 innov # innovation of the last measurement fusion (m)`
			`float32 innov_var # innovation variance of the last measurement fusion (m^2)`
			`float32 innov_test_ratio # normalized innovation squared test ratio`
ekf2: publish GNSS, rng and EV height biases 2022-08-03 05:33:39 -03:00
ekf2: EV overhaul yaw and position fusion (#20501) - move EV yaw and EV position to new state machines - EV yaw and EV pos now configured via EKF2_EV_CTRL (migrated from EKF2_AID_MASK) - new EV position offset estimator to enable EV position while GPS position is active (no more EV pos delta fusion) - yaw_align now strictly means north (no more rotate external vision aid mask) - automatic switching between EV yaw, and yaw align north based on GPS quality 2022-12-20 11:23:56 -04:00			`# TOPICS estimator_baro_bias estimator_gnss_hgt_bias estimator_rng_hgt_bias`