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px4-firmware/msg/EstimatorStatusFlags.msg

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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
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
# filter control status
msg: estimator_status_flags shorten fields - previously this message exceeded the logger total field length (1500 bytes)
2021-01-11 12:49:51 -04:00
uint32 control_status_changes # number of filter control status (cs) changes
bool cs_tilt_align # 0 - true if the filter tilt alignment is complete
bool cs_yaw_align # 1 - true if the filter yaw alignment is complete
bool cs_gps # 2 - true if GPS measurement fusion is intended
bool cs_opt_flow # 3 - true if optical flow measurements fusion is intended
bool cs_mag_hdg # 4 - true if a simple magnetic yaw heading fusion is intended
Spelling errors (#19935)
2022-07-27 01:33:16 -03:00
bool cs_mag_3d # 5 - true if 3-axis magnetometer measurement fusion is intended
msg: estimator_status_flags shorten fields - previously this message exceeded the logger total field length (1500 bytes)
2021-01-11 12:49:51 -04:00
bool cs_mag_dec # 6 - true if synthetic magnetic declination measurements fusion is intended
bool cs_in_air # 7 - true when the vehicle is airborne
bool cs_wind # 8 - true when wind velocity is being estimated
bool cs_baro_hgt # 9 - true when baro height is being fused as a primary height reference
bool cs_rng_hgt # 10 - true when range finder height is being fused as a primary height reference
bool cs_gps_hgt # 11 - true when GPS height is being fused as a primary height reference
bool cs_ev_pos # 12 - true when local position data fusion from external vision is intended
bool cs_ev_yaw # 13 - true when yaw data from external vision measurements fusion is intended
bool cs_ev_hgt # 14 - true when height data from external vision measurements is being fused
bool cs_fuse_beta # 15 - true when synthetic sideslip measurements are being fused
bool cs_mag_field_disturbed # 16 - true when the mag field does not match the expected strength
bool cs_fixed_wing # 17 - true when the vehicle is operating as a fixed wing vehicle
bool cs_mag_fault # 18 - true when the magnetometer has been declared faulty and is no longer being used
bool cs_fuse_aspd # 19 - true when airspeed measurements are being fused
bool cs_gnd_effect # 20 - true when protection from ground effect induced static pressure rise is active
bool cs_rng_stuck # 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
bool cs_gps_yaw # 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended
bool cs_mag_aligned_in_flight # 23 - true when the in-flight mag field alignment has been completed
bool cs_ev_vel # 24 - true when local frame velocity data fusion from external vision measurements is intended
bool cs_synthetic_mag_z # 25 - true when we are using a synthesized measurement for the magnetometer Z component
bool cs_vehicle_at_rest # 26 - true when the vehicle is at rest
commander: report GNSS yaw fault to user
2021-08-02 11:29:54 -03:00
bool cs_gps_yaw_fault # 27 - true when the GNSS heading has been declared faulty and is no longer being used
ekf: add range finder "faulty" status When delclared faulty, the range finder cannot be used anymore
2022-02-07 05:31:28 -04:00
bool cs_rng_fault # 28 - true when the range finder has been declared faulty and is no longer being used
commander: monitor GPS validity and EKF2 dead reckoning - ekf2: expose dead reckoning as control status flags - commander: - add GPS validity check - in AUTO MISSION if dependent on GPS then a loss of GPS will
2021-12-03 12:42:05 -04:00
bool cs_inertial_dead_reckoning # 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift
bool cs_wind_dead_reckoning # 30 - true if we are navigationg reliant on wind relative measurements
ekf: add logging for rng kinematic consistency check
2022-03-21 11:31:43 -03:00
bool cs_rng_kin_consistent # 31 - true when the range finder kinematic consistency check is passing
ekf2: move synthetic_position flag to control_status.flags.fake_pos
2022-09-08 09:41:50 -03:00
bool cs_fake_pos # 32 - true when fake position measurements are being fused
ekf2: add fake height fusion logic When there is no vertical aiding, fake height is started to constrain the vertical channel of the EKF
2022-08-08 11:55:51 -03:00
bool cs_fake_hgt # 33 - true when fake height measurements are being fused
ekf2: new gravity observation (#21038) Signed-off-by: Daniel M. Sahu <danielmohansahu@gmail.com>
2023-02-07 14:28:58 -04:00
bool cs_gravity_vector # 34 - true when gravity vector measurements are being fused
ekf2: separate mag and mag heading control logic (#21212) - split mag_3d into new standalone mag fusion and mag fusion allowed to update all states (full mag_3d) - new dedicated control logic for mag/mag_3d fusion and standalone mag heading fusion - if WMM available use for mag_I and mag_B init - mag states reset if external yaw reset (yaw estimator, GPS yaw, etc) - mag reset if declination changed (eliminate _mag_yaw_reset_req) - mag fusion (but not mag_hdg or mag_3d) can be active during gps_yaw or ev_yaw (if yaw aligned north) Co-authored-by: bresch <brescianimathieu@gmail.com>
2023-08-04 11:39:16 -03:00
bool cs_mag # 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended
bool cs_ev_yaw_fault # 36 - true when the EV heading has been declared faulty and is no longer being used
EKF2: improve resilience against incorrect mag data - when GNSS is used require low mag heading innovations during horizontal acceleration (yaw observable) to validate the mag - only fuse mag heading just enough to constrain the yaw estimate variance to a sane value. Leave enough uncertainty to allow for a correction when the yaw is observable through GNSS fusion
2023-08-17 10:55:15 -03:00
bool cs_mag_heading_consistent # 37 - true when the heading obtained from mag data is declared consistent with the filter
ekf2: auxiliary position fusion Co-authored-by: Daniel Agar <daniel@agar.ca>
2023-11-29 07:19:18 -04:00
bool cs_aux_gpos # 38 - true if auxiliary global position measurement fusion is intended
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
# fault status
msg: estimator_status_flags shorten fields - previously this message exceeded the logger total field length (1500 bytes)
2021-01-11 12:49:51 -04:00
uint32 fault_status_changes # number of filter fault status (fs) changes
bool fs_bad_mag_x # 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
bool fs_bad_mag_y # 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error
bool fs_bad_mag_z # 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error
bool fs_bad_hdg # 3 - true if the fusion of the heading angle has encountered a numerical error
bool fs_bad_mag_decl # 4 - true if the fusion of the magnetic declination has encountered a numerical error
bool fs_bad_airspeed # 5 - true if fusion of the airspeed has encountered a numerical error
bool fs_bad_sideslip # 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
bool fs_bad_optflow_x # 7 - true if fusion of the optical flow X axis has encountered a numerical error
bool fs_bad_optflow_y # 8 - true if fusion of the optical flow Y axis has encountered a numerical error
ekf2: move fuseVelPosHeight() -> fuseDirectStateMeasurement() - don't bother keeping bad_vel_{N,E,D} and bad_pos_{N,E,D} fault status bits
2024-02-14 21:46:28 -04:00
bool fs_bad_acc_bias # 9 - true if bad delta velocity bias estimates have been detected
bool fs_bad_acc_vertical # 10 - true if bad vertical accelerometer data has been detected
bool fs_bad_acc_clipping # 11 - true if delta velocity data contains clipping (asymmetric railing)
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
# innovation test failures
msg: estimator_status_flags shorten fields - previously this message exceeded the logger total field length (1500 bytes)
2021-01-11 12:49:51 -04:00
uint32 innovation_fault_status_changes # number of innovation fault status (reject) changes
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
bool reject_hor_vel # 0 - true if horizontal velocity observations have been rejected
bool reject_ver_vel # 1 - true if vertical velocity observations have been rejected
bool reject_hor_pos # 2 - true if horizontal position observations have been rejected
bool reject_ver_pos # 3 - true if vertical position observations have been rejected
bool reject_yaw # 7 - true if the yaw observation has been rejected
bool reject_airspeed # 8 - true if the airspeed observation has been rejected
bool reject_sideslip # 9 - true if the synthetic sideslip observation has been rejected
bool reject_hagl # 10 - true if the height above ground observation has been rejected
bool reject_optflow_x # 11 - true if the X optical flow observation has been rejected
bool reject_optflow_y # 12 - true if the Y optical flow observation has been rejected