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px4-firmware/msg/estimator_selector_status.msg

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Multi-EKF support (ekf2) - ekf2 can now run in multi-instance mode (currently up to 9 instances) - in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude) - new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude) - sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro) - existing consumers of estimator_status must check estimator_selector_status to select current primary instance status - ekf2 single instance mode is still fully supported and the default Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
2020-10-27 11:56:11 -03:00
uint64 timestamp # time since system start (microseconds)
uint8 primary_instance
uint8 instances_available
uint32 instance_changed_count
uint64 last_instance_change
uint32 accel_device_id
uint32 baro_device_id
uint32 gyro_device_id
uint32 mag_device_id
float32[9] combined_test_ratio
float32[9] relative_test_ratio
bool[9] healthy
float32[4] accumulated_gyro_error
float32[4] accumulated_accel_error
bool gyro_fault_detected
bool accel_fault_detected