px4-firmware/msg/estimator_status.msg

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

float32[3] vibe			# IMU vibration metrics in the following array locations
# 0 : Gyro delta angle coning metric = filtered length of (delta_angle x prev_delta_angle)
# 1 : Gyro high frequency vibe = filtered length of (delta_angle - prev_delta_angle)
# 2 : Accel high frequency vibe = filtered length of (delta_velocity - prev_delta_velocity)

float32[3] output_tracking_error # return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m)

uint16 gps_check_fail_flags     # Bitmask to indicate status of GPS checks - see definition below
# bits are true when corresponding test has failed
uint8 GPS_CHECK_FAIL_GPS_FIX = 0		# 0 : insufficient fix type (no 3D solution)
uint8 GPS_CHECK_FAIL_MIN_SAT_COUNT = 1		# 1 : minimum required sat count fail
uint8 GPS_CHECK_FAIL_MIN_PDOP = 2		# 2 : minimum required PDOP fail
uint8 GPS_CHECK_FAIL_MAX_HORZ_ERR = 3		# 3 : maximum allowed horizontal position error fail
uint8 GPS_CHECK_FAIL_MAX_VERT_ERR = 4		# 4 : maximum allowed vertical position error fail
uint8 GPS_CHECK_FAIL_MAX_SPD_ERR = 5		# 5 : maximum allowed speed error fail
uint8 GPS_CHECK_FAIL_MAX_HORZ_DRIFT = 6		# 6 : maximum allowed horizontal position drift fail - requires stationary vehicle
uint8 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 7		# 7 : maximum allowed vertical position drift fail - requires stationary vehicle
uint8 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 8	# 8 : maximum allowed horizontal speed fail - requires stationary vehicle
uint8 GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 9	# 9 : maximum allowed vertical velocity discrepancy fail

uint32 control_mode_flags	# Bitmask to indicate EKF logic state
uint8 CS_TILT_ALIGN = 0		# 0 - true if the filter tilt alignment is complete
uint8 CS_YAW_ALIGN = 1		# 1 - true if the filter yaw alignment is complete
uint8 CS_GPS = 2		# 2 - true if GPS measurements are being fused
uint8 CS_OPT_FLOW = 3		# 3 - true if optical flow measurements are being fused
uint8 CS_MAG_HDG = 4		# 4 - true if a simple magnetic yaw heading is being fused
uint8 CS_MAG_3D = 5		# 5 - true if 3-axis magnetometer measurement are being fused
uint8 CS_MAG_DEC = 6		# 6 - true if synthetic magnetic declination measurements are being fused
uint8 CS_IN_AIR = 7		# 7 - true when thought to be airborne
uint8 CS_WIND = 8		# 8 - true when wind velocity is being estimated
uint8 CS_BARO_HGT = 9		# 9 - true when baro height is being fused as a primary height reference
uint8 CS_RNG_HGT = 10		# 10 - true when range finder height is being fused as a primary height reference
uint8 CS_GPS_HGT = 11		# 11 - true when GPS height is being fused as a primary height reference
uint8 CS_EV_POS = 12		# 12 - true when local position data from external vision is being fused
uint8 CS_EV_YAW = 13		# 13 - true when yaw data from external vision measurements is being fused
uint8 CS_EV_HGT = 14		# 14 - true when height data from external vision measurements is being fused
uint8 CS_BETA = 15		# 15 - true when synthetic sideslip measurements are being fused
uint8 CS_MAG_FIELD = 16		# 16 - true when only the magnetic field states are updated by the magnetometer
uint8 CS_FIXED_WING = 17	# 17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip
uint8 CS_MAG_FAULT = 18		# 18 - true when the magnetomer has been declared faulty and is no longer being used
uint8 CS_ASPD = 19		# 19 - true when airspeed measurements are being fused
uint8 CS_GND_EFFECT = 20	# 20 - true when when protection from ground effect induced static pressure rise is active
uint8 CS_RNG_STUCK = 21		# 21 - true when a stuck range finder sensor has been detected
uint8 CS_GPS_YAW = 22		# 22 - true when yaw (not ground course) data from a GPS receiver is being fused
uint8 CS_MAG_ALIGNED = 23	# 23 - true when the in-flight mag field alignment has been completed

uint32 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
# 15 - true if bad delta velocity bias estimates have been detected
# 16 - true if bad vertical accelerometer data has been detected
# 17 - true if delta velocity data contains clipping (asymmetric railing)

float32 pos_horiz_accuracy # 1-Sigma estimated horizontal position accuracy relative to the estimators origin (m)
float32 pos_vert_accuracy # 1-Sigma estimated vertical position accuracy relative to the estimators origin (m)
uint16 innovation_check_flags # Bitmask to indicate pass/fail status of innovation consistency checks
# 0 - true if velocity observations have been rejected
# 1 - true if horizontal position observations have been rejected
# 2 - true if true if vertical position observations have been rejected
# 3 - true if the X magnetometer observation has been rejected
# 4 - true if the Y magnetometer observation has been rejected
# 5 - true if the Z magnetometer observation has been rejected
# 6 - true if the yaw observation has been rejected
# 7 - true if the airspeed observation has been rejected
# 8 - true if the synthetic sideslip observation has been rejected
# 9 - true if the height above ground observation has been rejected
# 10 - true if the X optical flow observation has been rejected
# 11 - true if the Y optical flow observation has been rejected

float32 mag_test_ratio # ratio of the largest magnetometer innovation component to the innovation test limit
float32 vel_test_ratio # ratio of the largest velocity innovation component to the innovation test limit
float32 pos_test_ratio # ratio of the largest horizontal position innovation component to the innovation test limit
float32 hgt_test_ratio # ratio of the vertical position innovation to the innovation test limit
float32 tas_test_ratio # ratio of the true airspeed innovation to the innovation test limit
float32 hagl_test_ratio # ratio of the height above ground innovation to the innovation test limit
float32 beta_test_ratio # ratio of the synthetic sideslip innovation to the innovation test limit

uint16 solution_status_flags # Bitmask indicating which filter kinematic state outputs are valid for flight control use.
# 0 - True if the attitude estimate is good
# 1 - True if the horizontal velocity estimate is good
# 2 - True if the vertical velocity estimate is good
# 3 - True if the horizontal position (relative) estimate is good
# 4 - True if the horizontal position (absolute) estimate is good
# 5 - True if the vertical position (absolute) estimate is good
# 6 - True if the vertical position (above ground) estimate is good
# 7 - True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
# 8 - True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
# 9 - True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
# 10 - True if the EKF has detected a GPS glitch
# 11 - True if the EKF has detected bad accelerometer data

float32 time_slip # cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time

bool pre_flt_fail_innov_heading
bool pre_flt_fail_innov_vel_horiz
bool pre_flt_fail_innov_vel_vert
bool pre_flt_fail_innov_height
bool pre_flt_fail_mag_field_disturbed

uint32 accel_device_id
uint32 gyro_device_id
uint32 baro_device_id
uint32 mag_device_id

# legacy local position estimator (LPE) flags
uint8 health_flags		# Bitmask to indicate sensor health states (vel, pos, hgt)
uint8 timeout_flags		# Bitmask to indicate timeout flags (vel, pos, hgt)
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)`
estimator messages add explicit timestamp_sample - timestamp is uORB publication metadata - this allows us to see what the system saw at publication time plus the latency in estimation 2020-09-01 15:38:41 -03:00			`uint64 timestamp_sample # the timestamp of the raw data (microseconds)`
estimator_status: add missing descriptions for control_mode_flags 2017-10-05 04:53:53 -03:00
msg: Change definition for un-used vibration monitoring variable Makes the message more useful in comparing the types of vibration likely to cause numerical errors and matches the update ecl library interface. 2016-10-18 02:12:43 -03:00			`float32[3] vibe # IMU vibration metrics in the following array locations`
			`# 0 : Gyro delta angle coning metric = filtered length of (delta_angle x prev_delta_angle)`
			`# 1 : Gyro high frequency vibe = filtered length of (delta_angle - prev_delta_angle)`
			`# 2 : Accel high frequency vibe = filtered length of (delta_velocity - prev_delta_velocity)`
estimator_status: add missing descriptions for control_mode_flags 2017-10-05 04:53:53 -03:00
ECL: Clean velPos logging, deprecate ekf2_innovations msg 2019-11-11 05:27:57 -04:00			`float32[3] output_tracking_error # return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m)`

msg: Add GPS check status to estimator_status uORB topic 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`
msg: add definitions for estimator status control mode bit positions 2018-05-08 19:15:41 -03:00			`uint8 GPS_CHECK_FAIL_GPS_FIX = 0 # 0 : insufficient fix type (no 3D solution)`
			`uint8 GPS_CHECK_FAIL_MIN_SAT_COUNT = 1 # 1 : minimum required sat count fail`
ekf: use PDOP instead of GDOP as TDOP (part of GDOP) is not given by the GNSS receiver 2019-11-25 10:38:51 -04:00			`uint8 GPS_CHECK_FAIL_MIN_PDOP = 2 # 2 : minimum required PDOP fail`
msg: add definitions for estimator status control mode bit positions 2018-05-08 19:15:41 -03:00			`uint8 GPS_CHECK_FAIL_MAX_HORZ_ERR = 3 # 3 : maximum allowed horizontal position error fail`
			`uint8 GPS_CHECK_FAIL_MAX_VERT_ERR = 4 # 4 : maximum allowed vertical position error fail`
			`uint8 GPS_CHECK_FAIL_MAX_SPD_ERR = 5 # 5 : maximum allowed speed error fail`
			`uint8 GPS_CHECK_FAIL_MAX_HORZ_DRIFT = 6 # 6 : maximum allowed horizontal position drift fail - requires stationary vehicle`
			`uint8 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 7 # 7 : maximum allowed vertical position drift fail - requires stationary vehicle`
			`uint8 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 8 # 8 : maximum allowed horizontal speed fail - requires stationary vehicle`
			`uint8 GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 9 # 9 : maximum allowed vertical velocity discrepancy fail`
msg: Add GPS check fail definitions to estimator_status 2017-03-16 08:17:46 -03:00
change to uint32 to match updated type from ecl 2017-06-15 05:18:33 -03:00			`uint32 control_mode_flags # Bitmask to indicate EKF logic state`
msg: add definitions for estimator status control mode bit positions 2018-05-08 19:15:41 -03:00			`uint8 CS_TILT_ALIGN = 0 # 0 - true if the filter tilt alignment is complete`
			`uint8 CS_YAW_ALIGN = 1 # 1 - true if the filter yaw alignment is complete`
			`uint8 CS_GPS = 2 # 2 - true if GPS measurements are being fused`
			`uint8 CS_OPT_FLOW = 3 # 3 - true if optical flow measurements are being fused`
			`uint8 CS_MAG_HDG = 4 # 4 - true if a simple magnetic yaw heading is being fused`
			`uint8 CS_MAG_3D = 5 # 5 - true if 3-axis magnetometer measurement are being fused`
			`uint8 CS_MAG_DEC = 6 # 6 - true if synthetic magnetic declination measurements are being fused`
			`uint8 CS_IN_AIR = 7 # 7 - true when thought to be airborne`
			`uint8 CS_WIND = 8 # 8 - true when wind velocity is being estimated`
			`uint8 CS_BARO_HGT = 9 # 9 - true when baro height is being fused as a primary height reference`
			`uint8 CS_RNG_HGT = 10 # 10 - true when range finder height is being fused as a primary height reference`
			`uint8 CS_GPS_HGT = 11 # 11 - true when GPS height is being fused as a primary height reference`
			`uint8 CS_EV_POS = 12 # 12 - true when local position data from external vision is being fused`
			`uint8 CS_EV_YAW = 13 # 13 - true when yaw data from external vision measurements is being fused`
			`uint8 CS_EV_HGT = 14 # 14 - true when height data from external vision measurements is being fused`
			`uint8 CS_BETA = 15 # 15 - true when synthetic sideslip measurements are being fused`
			`uint8 CS_MAG_FIELD = 16 # 16 - true when only the magnetic field states are updated by the magnetometer`
			`uint8 CS_FIXED_WING = 17 # 17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip`
			`uint8 CS_MAG_FAULT = 18 # 18 - true when the magnetomer has been declared faulty and is no longer being used`
			`uint8 CS_ASPD = 19 # 19 - true when airspeed measurements are being fused`
			`uint8 CS_GND_EFFECT = 20 # 20 - true when when protection from ground effect induced static pressure rise is active`
			`uint8 CS_RNG_STUCK = 21 # 21 - true when a stuck range finder sensor has been detected`
msg: add gps_yaw and mag_aligned to estimator_status Signed-off-by: CarlOlsson <carlolsson.co@gmail.com> 2019-01-14 04:47:13 -04:00			`uint8 CS_GPS_YAW = 22 # 22 - true when yaw (not ground course) data from a GPS receiver is being fused`
			`uint8 CS_MAG_ALIGNED = 23 # 23 - true when the in-flight mag field alignment has been completed`
estimator_status: add missing descriptions for control_mode_flags 2017-10-05 04:53:53 -03:00
ekf2: update to new ecl to fix fault status getter - estimator_status filter_fault_flags was broken because the union within ecl/EKF has exceeded 16 bits 2020-12-10 13:45:41 -04:00			`uint32 filter_fault_flags # Bitmask to indicate EKF internal faults`
msg: add filter internal fault message 2016-05-08 20:39:21 -03:00			`# 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`
msg: Fix documentation of filter_fault_flag in estimator status msg Signed-off-by: CarlOlsson <carlolsson.co@gmail.com> 2017-09-12 08:23:01 -03:00			`# 15 - true if bad delta velocity bias estimates have been detected`
ekf2: update to new ecl to fix fault status getter - estimator_status filter_fault_flags was broken because the union within ecl/EKF has exceeded 16 bits 2020-12-10 13:45:41 -04:00			`# 16 - true if bad vertical accelerometer data has been detected`
			`# 17 - true if delta velocity data contains clipping (asymmetric railing)`
estimator_status: add missing descriptions for control_mode_flags 2017-10-05 04:53:53 -03:00
msg: Add innovation test data to estimator status 2016-10-05 05:49:29 -03:00			`float32 pos_horiz_accuracy # 1-Sigma estimated horizontal position accuracy relative to the estimators origin (m)`
			`float32 pos_vert_accuracy # 1-Sigma estimated vertical position accuracy relative to the estimators origin (m)`
			`uint16 innovation_check_flags # Bitmask to indicate pass/fail status of innovation consistency checks`
			`# 0 - true if velocity observations have been rejected`
			`# 1 - true if horizontal position observations have been rejected`
			`# 2 - true if true if vertical position observations have been rejected`
			`# 3 - true if the X magnetometer observation has been rejected`
			`# 4 - true if the Y magnetometer observation has been rejected`
			`# 5 - true if the Z magnetometer observation has been rejected`
			`# 6 - true if the yaw observation has been rejected`
			`# 7 - true if the airspeed observation has been rejected`
estimator_status.msg: fix documentation of innovation_check_flags 2017-06-29 07:00:50 -03:00			`# 8 - true if the synthetic sideslip observation has been rejected`
			`# 9 - true if the height above ground observation has been rejected`
			`# 10 - true if the X optical flow observation has been rejected`
			`# 11 - true if the Y optical flow observation has been rejected`
estimator_status: add missing descriptions for control_mode_flags 2017-10-05 04:53:53 -03:00
msg: Add innovation test data to estimator status 2016-10-05 05:49:29 -03:00			`float32 mag_test_ratio # ratio of the largest magnetometer innovation component to the innovation test limit`
			`float32 vel_test_ratio # ratio of the largest velocity innovation component to the innovation test limit`
			`float32 pos_test_ratio # ratio of the largest horizontal position innovation component to the innovation test limit`
			`float32 hgt_test_ratio # ratio of the vertical position innovation to the innovation test limit`
			`float32 tas_test_ratio # ratio of the true airspeed innovation to the innovation test limit`
			`float32 hagl_test_ratio # ratio of the height above ground innovation to the innovation test limit`
ekf2: added beta test ratio to estimator_status Signed-off-by: CarlOlsson <carlolsson.co@gmail.com> 2017-12-18 10:50:04 -04:00			`float32 beta_test_ratio # ratio of the synthetic sideslip innovation to the innovation test limit`
estimator_status: add missing descriptions for control_mode_flags 2017-10-05 04:53:53 -03:00
msg: Add EKF solution status flags to estimator status message 2016-10-06 00:54:13 -03:00			`uint16 solution_status_flags # Bitmask indicating which filter kinematic state outputs are valid for flight control use.`
			`# 0 - True if the attitude estimate is good`
			`# 1 - True if the horizontal velocity estimate is good`
			`# 2 - True if the vertical velocity estimate is good`
			`# 3 - True if the horizontal position (relative) estimate is good`
			`# 4 - True if the horizontal position (absolute) estimate is good`
			`# 5 - True if the vertical position (absolute) estimate is good`
			`# 6 - True if the vertical position (above ground) estimate is good`
			`# 7 - True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)`
			`# 8 - True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate`
			`# 9 - True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate`
			`# 10 - True if the EKF has detected a GPS glitch`
Update the Description of the estimator_status Message (#8346) * Fix description of GPS check fail bits in estimator status message 2017-12-11 12:15:34 -04:00			`# 11 - True if the EKF has detected bad accelerometer data`
estimator_status: add missing descriptions for control_mode_flags 2017-10-05 04:53:53 -03:00
msg: update estimator_status Reduce unnecessary length of state and covariance arrays Add time slip monitor 2017-05-16 05:05:33 -03:00			`float32 time_slip # cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time`
msg: add pre flight check status message 2017-11-23 21:18:45 -04:00
ekf2_main - Add optical flow innovation pre-flight check (#13036) * ekf2: Add FirstOrderLpf and InnovationLpf classes for innovation lowpass filtering * ekf2: use InnovLpf filter class in preflight checks * ekf2: move selection of yaw test limit for pre-flight check in function * ekf2: Move pre-flight checks into separate function * ekf2: use static constexpr insetead of inline for sq (square) function * ekf2: Split pre-flight checks in separate functions Also use the same check for all the innovations: innov_lpf < test and innov < 2xtest * ekf2: Add optical flow pre-flight check * ekf2: Combine FirstOrderLpf and InnovationLpf in single class * ekf2: check vel_pos_innov when ev_pos is active as well * ekf2: transform InnovationLpf into a header only library and pass the spike limit during the update call to avoid storing it here * ekf2: Static and const cleanup - set spike_lim constants as static constexpr, set innovation - set checker helper functions as static - rename the mix of heading and yaw as heading to avoid confusion * ekf2: use ternary operator in selectHeadingTestLimit instead of if-else * ekf2: store intermediate redults in const bool flags. Those will be used for logging * ekf2: set variable const whenever possible * ekf2: create PreFlightChecker class that handle all the innovation pre-flight checks. Add simple unit testing Use bitmask instead of general flag to have more granularity * PreFlightChecker: use setter for the innovations to check instead of sending booleans in the update function This makes it more scalable as more checks will be added * ekf: Use booleans instead of bitmask for ekf preflt checks Rename "down" to "vert" 2019-10-22 11:22:42 -03:00			`bool pre_flt_fail_innov_heading`
			`bool pre_flt_fail_innov_vel_horiz`
			`bool pre_flt_fail_innov_vel_vert`
			`bool pre_flt_fail_innov_height`
commander: add pre-flight check and parameter for magnetic field strength 2019-11-11 09:57:06 -04:00			`bool pre_flt_fail_mag_field_disturbed`
estimator_status separate LPE only flags and comment 2018-06-24 21:50:21 -03:00
estimator_status: add device ids for accel/baro/gyro/mag 2020-09-01 15:46:07 -03:00			`uint32 accel_device_id`
			`uint32 gyro_device_id`
			`uint32 baro_device_id`
			`uint32 mag_device_id`

estimator_status separate LPE only flags and comment 2018-06-24 21:50:21 -03:00			`# legacy local position estimator (LPE) flags`
			`uint8 health_flags # Bitmask to indicate sensor health states (vel, pos, hgt)`
			`uint8 timeout_flags # Bitmask to indicate timeout flags (vel, pos, hgt)`