px4-firmware/msg/ekf2_innovations.msg

uint64 timestamp		# time since system start (microseconds)
float32[6] vel_pos_innov	# velocity and position innovations
float32[3] mag_innov 		# earth magnetic field innovations
float32 heading_innov 		# heading innovation
float32 airspeed_innov		# airspeed innovation
float32 beta_innov		# synthetic sideslip innovation
float32[2] flow_innov   	# flow innovation
float32 hagl_innov      	# innovation from the terrain estimator for the height above ground level measurement  (m)
float32[6] vel_pos_innov_var 	# velocity and position innovation variances
float32[3] mag_innov_var	# earth magnetic field innovation variance
float32 heading_innov_var 	# heading innovation variance
float32 airspeed_innov_var	# Airspeed innovation variance
float32 beta_innov_var		# synthetic sideslip innovation variance
float32[2] flow_innov_var	# flow innovation variance
float32 hagl_innov_var          # innovation variance from the terrain estimator for the height above ground level measurement (m^2)
float32[3] output_tracking_error # return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m)
float32[2] drag_innov		# drag specific force innovation (m/s/s)
float32[2] drag_innov_var	# drag specific force innovation variance (m/s/s)**2
float32[2] aux_vel_innov	# auxiliary NE velocity innovations from landing target measurement (m/s)
add timestamp field to uORB msgs; sync timestamp whenever possible 2018-08-06 21:30:05 -03:00			`uint64 timestamp # time since system start (microseconds)`
beautify some identation 2018-08-07 10:42:32 -03:00			`float32[6] vel_pos_innov # velocity and position innovations`
			`float32[3] mag_innov # earth magnetic field innovations`
			`float32 heading_innov # heading innovation`
			`float32 airspeed_innov # airspeed innovation`
			`float32 beta_innov # synthetic sideslip innovation`
			`float32[2] flow_innov # flow innovation`
			`float32 hagl_innov # innovation from the terrain estimator for the height above ground level measurement (m)`
added message for ekf2 innovations message 2016-01-12 02:31:44 -04:00			`float32[6] vel_pos_innov_var # velocity and position innovation variances`
			`float32[3] mag_innov_var # earth magnetic field innovation variance`
			`float32 heading_innov_var # heading innovation variance`
added msg 2016-03-14 14:21:53 -03:00			`float32 airspeed_innov_var # Airspeed innovation variance`
added beta innovations to ekf_innovations 2016-07-18 16:18:00 -03:00			`float32 beta_innov_var # synthetic sideslip innovation variance`
msg: Add ekf2 height above ground fusion data 2016-03-07 04:25:55 -04:00			`float32[2] flow_innov_var # flow innovation variance`
			`float32 hagl_innov_var # innovation variance from the terrain estimator for the height above ground level measurement (m^2)`
msg: add output predictor tracking errors to innovation message 2016-08-14 00:42:01 -03:00			`float32[3] output_tracking_error # return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m)`
EKF: Enable compensation for static pressure positional error (#7264) * msg: add reporting of multi rotor drag fusion * ekf2: add reporting of multi rotor drag fusion * ekf2: Add parameters required to tune multi-rotor wind estimation * ekf2: Add correction for static pressure position error * ekf2: Use correct air density for position error corrections * ekf2: fix parameter documentation error * ekf2: Add separate forward and reverse position error correction factors * ekf2: Fix formatting and parameter descriptions * ekf2: Improve comments 2017-07-31 18:29:08 -03:00			`float32[2] drag_innov # drag specific force innovation (m/s/s)`
			`float32[2] drag_innov_var # drag specific force innovation variance (m/s/s)**2`
msgs : add support for precision landing 2018-01-14 13:52:00 -04:00			`float32[2] aux_vel_innov # auxiliary NE velocity innovations from landing target measurement (m/s)`