forked from Archive/PX4-Autopilot
130 lines
9.3 KiB
Plaintext
130 lines
9.3 KiB
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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float32[3] output_tracking_error # return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m)
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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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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_MAX_PDOP = 2 # 2 : maximum allowed PDOP 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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uint64 control_mode_flags # Bitmask to indicate EKF logic state
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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 magnetometer 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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uint8 CS_GPS_YAW = 22 # 22 - true when yaw (not ground course) data from a GPS receiver is being fused
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uint8 CS_MAG_ALIGNED = 23 # 23 - true when the in-flight mag field alignment has been completed
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uint8 CS_EV_VEL = 24 # 24 - true when local frame velocity data fusion from external vision measurements is intended
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uint8 CS_SYNTHETIC_MAG_Z = 25 # 25 - true when we are using a synthesized measurement for the magnetometer Z component
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uint8 CS_VEHICLE_AT_REST = 26 # 26 - true when the vehicle is at rest
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uint8 CS_GPS_YAW_FAULT = 27 # 27 - true when the GNSS heading has been declared faulty and is no longer being used
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uint8 CS_RNG_FAULT = 28 # 28 - true when the range finder has been declared faulty and is no longer being used
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uint32 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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# 15 - true if bad delta velocity bias estimates have been detected
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# 16 - true if bad vertical accelerometer data has been detected
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# 17 - true if delta velocity data contains clipping (asymmetric railing)
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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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# 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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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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float32 beta_test_ratio # ratio of the synthetic sideslip innovation to the innovation test limit
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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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# 11 - True if the EKF has detected bad accelerometer data
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uint8 reset_count_vel_ne # number of horizontal position reset events (allow to wrap if count exceeds 255)
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uint8 reset_count_vel_d # number of vertical velocity reset events (allow to wrap if count exceeds 255)
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uint8 reset_count_pos_ne # number of horizontal position reset events (allow to wrap if count exceeds 255)
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uint8 reset_count_pod_d # number of vertical position reset events (allow to wrap if count exceeds 255)
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uint8 reset_count_quat # number of quaternion reset events (allow to wrap if count exceeds 255)
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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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bool pre_flt_fail_innov_heading
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bool pre_flt_fail_innov_vel_horiz
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bool pre_flt_fail_innov_vel_vert
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bool pre_flt_fail_innov_height
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bool pre_flt_fail_mag_field_disturbed
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uint32 accel_device_id
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uint32 gyro_device_id
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uint32 baro_device_id
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uint32 mag_device_id
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# legacy local position estimator (LPE) flags
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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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