2017-05-16 05:05:33 -03:00
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float32[24] states # Internal filter states
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2015-05-25 14:23:11 -03:00
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float32 n_states # Number of states effectively used
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2017-10-05 04:53:53 -03:00
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2016-10-18 02:12:43 -03:00
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float32[3] vibe # IMU vibration metrics in the following array locations
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# 0 : Gyro delta angle coning metric = filtered length of (delta_angle x prev_delta_angle)
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# 1 : Gyro high frequency vibe = filtered length of (delta_angle - prev_delta_angle)
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# 2 : Accel high frequency vibe = filtered length of (delta_velocity - prev_delta_velocity)
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2017-10-05 04:53:53 -03:00
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2015-05-25 14:23:11 -03:00
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uint8 nan_flags # Bitmask to indicate NaN states
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uint8 health_flags # Bitmask to indicate sensor health states (vel, pos, hgt)
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uint8 timeout_flags # Bitmask to indicate timeout flags (vel, pos, hgt)
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2017-05-16 05:05:33 -03:00
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float32[24] covariances # Diagonal Elements of Covariance Matrix
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2017-10-05 04:53:53 -03:00
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2016-01-24 22:12:15 -04:00
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uint16 gps_check_fail_flags # Bitmask to indicate status of GPS checks - see definition below
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# bits are true when corresponding test has failed
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2018-05-08 19:15:41 -03:00
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uint8 GPS_CHECK_FAIL_GPS_FIX = 0 # 0 : insufficient fix type (no 3D solution)
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uint8 GPS_CHECK_FAIL_MIN_SAT_COUNT = 1 # 1 : minimum required sat count fail
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uint8 GPS_CHECK_FAIL_MIN_GDOP = 2 # 2 : minimum required GDoP fail
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uint8 GPS_CHECK_FAIL_MAX_HORZ_ERR = 3 # 3 : maximum allowed horizontal position error fail
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uint8 GPS_CHECK_FAIL_MAX_VERT_ERR = 4 # 4 : maximum allowed vertical position error fail
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uint8 GPS_CHECK_FAIL_MAX_SPD_ERR = 5 # 5 : maximum allowed speed error fail
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uint8 GPS_CHECK_FAIL_MAX_HORZ_DRIFT = 6 # 6 : maximum allowed horizontal position drift fail - requires stationary vehicle
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uint8 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 7 # 7 : maximum allowed vertical position drift fail - requires stationary vehicle
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uint8 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 8 # 8 : maximum allowed horizontal speed fail - requires stationary vehicle
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uint8 GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 9 # 9 : maximum allowed vertical velocity discrepancy fail
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2017-03-16 08:17:46 -03:00
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2017-06-15 05:18:33 -03:00
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uint32 control_mode_flags # Bitmask to indicate EKF logic state
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2018-05-08 19:15:41 -03:00
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uint8 CS_TILT_ALIGN = 0 # 0 - true if the filter tilt alignment is complete
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uint8 CS_YAW_ALIGN = 1 # 1 - true if the filter yaw alignment is complete
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uint8 CS_GPS = 2 # 2 - true if GPS measurements are being fused
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uint8 CS_OPT_FLOW = 3 # 3 - true if optical flow measurements are being fused
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uint8 CS_MAG_HDG = 4 # 4 - true if a simple magnetic yaw heading is being fused
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uint8 CS_MAG_3D = 5 # 5 - true if 3-axis magnetometer measurement are being fused
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uint8 CS_MAG_DEC = 6 # 6 - true if synthetic magnetic declination measurements are being fused
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uint8 CS_IN_AIR = 7 # 7 - true when thought to be airborne
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uint8 CS_WIND = 8 # 8 - true when wind velocity is being estimated
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uint8 CS_BARO_HGT = 9 # 9 - true when baro height is being fused as a primary height reference
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uint8 CS_RNG_HGT = 10 # 10 - true when range finder height is being fused as a primary height reference
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uint8 CS_GPS_HGT = 11 # 11 - true when GPS height is being fused as a primary height reference
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uint8 CS_EV_POS = 12 # 12 - true when local position data from external vision is being fused
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uint8 CS_EV_YAW = 13 # 13 - true when yaw data from external vision measurements is being fused
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uint8 CS_EV_HGT = 14 # 14 - true when height data from external vision measurements is being fused
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uint8 CS_BETA = 15 # 15 - true when synthetic sideslip measurements are being fused
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uint8 CS_MAG_FIELD = 16 # 16 - true when only the magnetic field states are updated by the magnetometer
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uint8 CS_FIXED_WING = 17 # 17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip
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uint8 CS_MAG_FAULT = 18 # 18 - true when the magnetomer has been declared faulty and is no longer being used
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uint8 CS_ASPD = 19 # 19 - true when airspeed measurements are being fused
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uint8 CS_GND_EFFECT = 20 # 20 - true when when protection from ground effect induced static pressure rise is active
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uint8 CS_RNG_STUCK = 21 # 21 - true when a stuck range finder sensor has been detected
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2017-10-05 04:53:53 -03:00
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2016-05-08 20:39:21 -03:00
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uint16 filter_fault_flags # Bitmask to indicate EKF internal faults
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# 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
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# 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error
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# 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error
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# 3 - true if the fusion of the magnetic heading has encountered a numerical error
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# 4 - true if the fusion of the magnetic declination has encountered a numerical error
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# 5 - true if fusion of the airspeed has encountered a numerical error
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# 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
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# 7 - true if fusion of the optical flow X axis has encountered a numerical error
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# 8 - true if fusion of the optical flow Y axis has encountered a numerical error
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# 9 - true if fusion of the North velocity has encountered a numerical error
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# 10 - true if fusion of the East velocity has encountered a numerical error
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# 11 - true if fusion of the Down velocity has encountered a numerical error
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# 12 - true if fusion of the North position has encountered a numerical error
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# 13 - true if fusion of the East position has encountered a numerical error
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# 14 - true if fusion of the Down position has encountered a numerical error
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2017-09-12 08:23:01 -03:00
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# 15 - true if bad delta velocity bias estimates have been detected
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2017-10-05 04:53:53 -03:00
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2016-10-05 05:49:29 -03:00
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float32 pos_horiz_accuracy # 1-Sigma estimated horizontal position accuracy relative to the estimators origin (m)
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float32 pos_vert_accuracy # 1-Sigma estimated vertical position accuracy relative to the estimators origin (m)
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uint16 innovation_check_flags # Bitmask to indicate pass/fail status of innovation consistency checks
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# 0 - true if velocity observations have been rejected
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# 1 - true if horizontal position observations have been rejected
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# 2 - true if true if vertical position observations have been rejected
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# 3 - true if the X magnetometer observation has been rejected
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# 4 - true if the Y magnetometer observation has been rejected
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# 5 - true if the Z magnetometer observation has been rejected
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# 6 - true if the yaw observation has been rejected
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# 7 - true if the airspeed observation has been rejected
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2017-06-29 07:00:50 -03:00
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# 8 - true if the synthetic sideslip observation has been rejected
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# 9 - true if the height above ground observation has been rejected
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# 10 - true if the X optical flow observation has been rejected
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# 11 - true if the Y optical flow observation has been rejected
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2017-10-05 04:53:53 -03:00
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2016-10-05 05:49:29 -03:00
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float32 mag_test_ratio # ratio of the largest magnetometer innovation component to the innovation test limit
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float32 vel_test_ratio # ratio of the largest velocity innovation component to the innovation test limit
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float32 pos_test_ratio # ratio of the largest horizontal position innovation component to the innovation test limit
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float32 hgt_test_ratio # ratio of the vertical position innovation to the innovation test limit
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float32 tas_test_ratio # ratio of the true airspeed innovation to the innovation test limit
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float32 hagl_test_ratio # ratio of the height above ground innovation to the innovation test limit
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2017-12-18 10:50:04 -04:00
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float32 beta_test_ratio # ratio of the synthetic sideslip innovation to the innovation test limit
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2017-10-05 04:53:53 -03:00
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2016-10-06 00:54:13 -03:00
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uint16 solution_status_flags # Bitmask indicating which filter kinematic state outputs are valid for flight control use.
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# 0 - True if the attitude estimate is good
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# 1 - True if the horizontal velocity estimate is good
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# 2 - True if the vertical velocity estimate is good
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# 3 - True if the horizontal position (relative) estimate is good
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# 4 - True if the horizontal position (absolute) estimate is good
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# 5 - True if the vertical position (absolute) estimate is good
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# 6 - True if the vertical position (above ground) estimate is good
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# 7 - True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
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# 8 - True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
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# 9 - True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
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# 10 - True if the EKF has detected a GPS glitch
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2017-12-11 12:15:34 -04:00
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# 11 - True if the EKF has detected bad accelerometer data
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2017-10-05 04:53:53 -03:00
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2017-05-16 05:05:33 -03:00
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float32 time_slip # cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time
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2017-11-23 21:18:45 -04:00
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bool pre_flt_fail # true when estimator has failed pre-flight checks and the vehicle should not be flown regardless of flight mode
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