px4-firmware/Tools/ecl_ekf/check_table.csv

1	check_id	check_description
2	master_status	Master check status which can be either Pass Warning or Fail. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
3	mag_sensor_status	Magnetometer sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
4	yaw_sensor_status	Yaw sensor check summary. This sensor data can be sourced from the magnetometer or an external vision system. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
5	vel_sensor_status	Velocity sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
6	pos_sensor_status	Position sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
7	hgt_sensor_status	Height sensor check summary. This sensor data can be sourced from either Baro or GPS or range finder or external vision system. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no anomalies were detected and no further investigation is required
8	hagl_sensor_status	Height above ground sensor check summary. This sensor data is normally sourced from a rangefinder sensor. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
9	tas_sensor_status	Airspeed sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
10	imu_sensor_status	IMU sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
11	imu_vibration_check	IMU vibration check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
12	imu_bias_check	IMU bias check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
13	imu_output_predictor_check	IMU output predictor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
14	flow_sensor_status	Optical Flow sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
15	filter_fault_status	Internal Filter check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
16	mag_percentage_red	The percentage of in-flight consolidated magnetic field sensor innovation consistency test values > 1.0.
17	mag_percentage_amber	The percentage of in-flight consolidated magnetic field sensor innovation consistency test values > 0.5.
18	magx_fail_percentage	The percentage of in-flight recorded failure events for the X-axis magnetic field sensor innovation consistency test.
19	magy_fail_percentage	The percentage of in-flight recorded failure events for the Y-axis magnetic field sensor innovation consistency test.
20	magz_fail_percentage	The percentage of in-flight recorded failure events for the Z-axis magnetic field sensor innovation consistency test.
21	yaw_fail_percentage	The percentage of in-flight recorded failure events for the yaw sensor innovation consistency test.
22	mag_test_max	The maximum in-flight value of the magnetic field sensor innovation consistency test ratio.
23	mag_test_mean	The mean in-flight value of the magnetic field sensor innovation consistency test ratio.
24	vel_percentage_red	The percentage of in-flight velocity sensor consolidated innovation consistency test values > 1.0.
25	vel_percentage_amber	The percentage of in-flight velocity sensor consolidated innovation consistency test values > 0.5.
26	vel_fail_percentage	The percentage of in-flight recorded failure events for the velocity sensor consolidated innovation consistency test.
27	vel_test_max	The maximum in-flight value of the velocity sensor consolidated innovation consistency test ratio.
28	vel_test_mean	The mean in-flight value of the velocity sensor consolidated innovation consistency test ratio.
29	pos_percentage_red	The percentage of in-flight position sensor consolidated innovation consistency test values > 1.0.
30	pos_percentage_amber	The percentage of in-flight position sensor consolidated innovation consistency test values > 0.5.
31	pos_fail_percentage	The percentage of in-flight recorded failure events for the velocity sensor consolidated innovation consistency test.
32	pos_test_max	The maximum in-flight value of the position sensor consolidated innovation consistency test ratio.
33	pos_test_mean	The mean in-flight value of the position sensor consolidated innovation consistency test ratio.
34	hgt_percentage_red	The percentage of in-flight height sensor innovation consistency test values > 1.0.
35	hgt_percentage_amber	The percentage of in-flight height sensor innovation consistency test values > 0.5.
36	hgt_fail_percentage	The percentage of in-flight recorded failure events for the height sensor innovation consistency test.
37	hgt_test_max	The maximum in-flight value of the height sensor innovation consistency test ratio.
38	hgt_test_mean	The mean in-flight value of the height sensor innovation consistency test ratio.
39	tas_percentage_red	The percentage of in-flight airspeed sensor innovation consistency test values > 1.0.
40	tas_percentage_amber	The percentage of in-flight airspeed sensor innovation consistency test values > 0.5.
41	tas_fail_percentage	The percentage of in-flight recorded failure events for the airspeed sensor innovation consistency test.
42	tas_test_max	The maximum in-flight value of the airspeed sensor innovation consistency test ratio.
43	tas_test_mean	The mean in-flight value of the airspeed sensor innovation consistency test ratio.
44	hagl_percentage_red	The percentage of in-flight height above ground sensor innovation consistency test values > 1.0.
45	hagl_percentage_amber	The percentage of in-flight height above ground sensor innovation consistency test values > 0.5.
46	hagl_fail_percentage	The percentage of in-flight recorded failure events for the height above ground sensor innovation consistency test.
47	hagl_test_max	The maximum in-flight value of the height above ground sensor innovation consistency test ratio.
48	hagl_test_mean	The mean in-flight value of the height above ground sensor innovation consistency test ratio.
49	ofx_fail_percentage	The percentage of in-flight recorded failure events for the optical flow sensor X-axis innovation consistency test.
50	ofy_fail_percentage	The percentage of in-flight recorded failure events for the optical flow sensor Y-axis innovation consistency test.
51	filter_faults_max	Largest recorded value of the filter internal fault bitmask. Should always be zero.
52	imu_coning_peak	Peak in-flight value of the IMU delta angle coning vibration metric (rad^2)
53	imu_coning_mean	Mean in-flight value of the IMU delta angle coning vibration metric (rad^2)
54	imu_hfgyro_peak	Peak in-flight value of the IMU accel high frequency vibration metric (rad/s)
55	imu_hfgyro_mean	Mean in-flight value of the IMU accel high frequency vibration metric (rad/s)
56	imu_hfaccel_peak	Peak in-flight value of the IMU accel high frequency vibration metric (m/s/s)
57	imu_hfaccel_mean	Mean in-flight value of the IMU accel high frequency vibration metric (m/s/s)
58	output_obs_ang_err_median	Median in-flight value of the output observer angular error (rad)
59	output_obs_vel_err_median	Median in-flight value of the output observer velocity error (m/s)
60	output_obs_pos_err_median	Median in-flight value of the output observer position error (m)
61	imu_dang_bias_median	Median in-flight value of the delta angle bias vector length (rad)
62	imu_dvel_bias_median	Median in-flight value of the delta velocity bias vector length (m/s)
63	tilt_align_time	The time in seconds measured from startup that the EKF completed the tilt alignment. A nan value indicates that the alignment had completed before logging started or alignment did not complete.
64	yaw_align_time	The time in seconds measured from startup that the EKF completed the yaw alignment.
65	in_air_transition_time	The time in seconds measured from startup that the EKF transtioned into in-air mode. Set to a nan if a transition event is not detected.
66	on_ground_transition_time	The time in seconds measured from startup that the EKF transitioned out of in-air mode. Set to a nan if a transition event is not detected.