2015-05-25 14:23:11 -03:00
|
|
|
uint64 timestamp # Timestamp in microseconds since boot
|
|
|
|
|
float32[32] states # Internal filter states
|
|
|
|
|
float32 n_states # Number of states effectively used
|
2016-02-25 10:57:37 -04:00
|
|
|
float32[3] vibe # Vibration levels in X, Y and Z
|
2015-05-25 14:23:11 -03:00
|
|
|
uint8 nan_flags # Bitmask to indicate NaN states
|
|
|
|
|
uint8 health_flags # Bitmask to indicate sensor health states (vel, pos, hgt)
|
|
|
|
|
uint8 timeout_flags # Bitmask to indicate timeout flags (vel, pos, hgt)
|
2015-06-24 10:04:19 -03:00
|
|
|
float32[28] covariances # Diagonal Elements of Covariance Matrix
|
2016-01-24 22:12:15 -04:00
|
|
|
uint16 gps_check_fail_flags # Bitmask to indicate status of GPS checks - see definition below
|
|
|
|
|
# bits are true when corresponding test has failed
|
|
|
|
|
# 0 : minimum required sat count fail
|
|
|
|
|
# 1 : minimum required GDoP fail
|
|
|
|
|
# 2 : maximum allowed horizontal position error fail
|
|
|
|
|
# 3 : maximum allowed vertical position error fail
|
|
|
|
|
# 4 : maximum allowed speed error fail
|
|
|
|
|
# 5 : maximum allowed horizontal position drift fail
|
|
|
|
|
# 6 : maximum allowed vertical position drift fail
|
|
|
|
|
# 7 : maximum allowed horizontal speed fail
|
|
|
|
|
# 8 : maximum allowed vertical velocity discrepancy fail
|
2016-04-16 00:02:47 -03:00
|
|
|
uint16 control_mode_flags # Bitmask to indicate EKF logic state
|
|
|
|
|
# 0 - true if the filter tilt alignment is complete
|
|
|
|
|
# 1 - true if the filter yaw alignment is complete
|
|
|
|
|
# 2 - true if GPS measurements are being fused
|
|
|
|
|
# 3 - true if optical flow measurements are being fused
|
|
|
|
|
# 4 - true if a simple magnetic yaw heading is being fused
|
|
|
|
|
# 5 - true if the horizontal projection of magnetometer data is being fused
|
|
|
|
|
# 6 - true if 3-axis magnetometer measurement are being fused
|
|
|
|
|
# 7 - true if synthetic magnetic declination measurements are being fused
|
|
|
|
|
# 8 - true when the vehicle is airborne
|
|
|
|
|
# 9 - true when the vehicle motors are armed
|
|
|
|
|
# 10 - true when wind velocity is being estimated
|
|
|
|
|
# 11 - true when baro height is being fused as a primary height reference
|
|
|
|
|
# 12 - true when range finder height is being fused as a primary height reference
|
|
|
|
|
# 15 - true when range finder height is being fused as a primary height reference
|
2016-05-08 20:39:21 -03:00
|
|
|
uint16 filter_fault_flags # Bitmask to indicate EKF internal faults
|
|
|
|
|
# 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
|
|
|
|
|
# 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error
|
|
|
|
|
# 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error
|
|
|
|
|
# 3 - true if the fusion of the magnetic heading has encountered a numerical error
|
|
|
|
|
# 4 - true if the fusion of the magnetic declination has encountered a numerical error
|
|
|
|
|
# 5 - true if fusion of the airspeed has encountered a numerical error
|
|
|
|
|
# 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
|
|
|
|
|
# 7 - true if fusion of the optical flow X axis has encountered a numerical error
|
|
|
|
|
# 8 - true if fusion of the optical flow Y axis has encountered a numerical error
|
|
|
|
|
# 9 - true if fusion of the North velocity has encountered a numerical error
|
|
|
|
|
# 10 - true if fusion of the East velocity has encountered a numerical error
|
|
|
|
|
# 11 - true if fusion of the Down velocity has encountered a numerical error
|
|
|
|
|
# 12 - true if fusion of the North position has encountered a numerical error
|
|
|
|
|
# 13 - true if fusion of the East position has encountered a numerical error
|
|
|
|
|
# 14 - true if fusion of the Down position has encountered a numerical error
|
