dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

msg: update estimator_status 

Reduce unnecessary length of state and covariance arrays
Add time slip monitor
This commit is contained in:
Paul Riseborough 2017-05-16 18:05:33 +10:00 committed by Lorenz Meier
parent e7a225bf48
commit e2242f87c9
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
msg/estimator_status.msg
View File

@ -1,4 +1,4 @@
float32[32] states # Internal filter states
float32[24] states # Internal filter states
float32 n_states # Number of states effectively used
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)
@ -7,7 +7,7 @@ float32[3] vibe # IMU vibration metrics in the following array locations
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)
float32[28] covariances # Diagonal Elements of Covariance Matrix
float32[24] covariances # Diagonal Elements of Covariance Matrix
uint16 gps_check_fail_flags # Bitmask to indicate status of GPS checks - see definition below
# bits are true when corresponding test has failed
uint16 GPS_CHECK_FAIL_MIN_SAT_COUNT = 0 # 0 : minimum required sat count fail
@ -84,4 +84,4 @@ uint16 solution_status_flags # Bitmask indicating which filter kinematic state o
# 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
float32 time_slip # cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time