forked from Archive/PX4-Autopilot
52 lines
2.6 KiB
Plaintext
52 lines
2.6 KiB
Plaintext
uint64 time_ref # ekf2 reference time. This is a timestamp passed to the
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# estimator which it uses a absolute reference.
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float32 gyro_integral_dt # gyro integration period in s
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float32 accelerometer_integral_dt # accelerometer integration period in s
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uint64 magnetometer_timestamp # timestamp of magnetometer measurement in us
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uint64 baro_timestamp # timestamp of barometer measurement in us
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uint64 rng_timestamp # timestamp of range finder measurement in us
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uint64 flow_timestamp # timestamp of optical flow measurement in us
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uint64 asp_timestamp # timestamp of airspeed measurement in us
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uint64 ev_timestamp # timestamp of external vision measurement in us
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float32[3] gyro_rad # gyro vector in rad
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float32[3] accelerometer_m_s2 # accelerometer vector in m/s^2
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float32[3] magnetometer_ga # magnetometer measurement vector (body fixed NED) in ga
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float32 baro_alt_meter # barometer altitude measurement in m
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uint64 time_usec # timestamp of gps position measurement in us
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uint64 time_usec_vel # timestamp of gps velocity measurement in us
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int32 lat # Latitude in 1E-7 degrees
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int32 lon # Longitude in 1E-7 degrees
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int32 alt # Altitude in 1E-3 meters above MSL, (millimetres)
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uint8 fix_type
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uint8 nsats # number of GPS satellites used by the receiver
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float32 eph # GPS horizontal position accuracy (metres)
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float32 epv # GPS vertical position accuracy (metres)
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float32 sacc # GPS speed accuracy (metres/sec)
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float32 vel_m_s # GPS ground speed, (metres/sec)
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float32 vel_n_m_s # GPS North velocity, (metres/sec)
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float32 vel_e_m_s # GPS East velocity, (metres/sec)
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float32 vel_d_m_s # GPS Down velocity, (metres/sec)
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bool vel_ned_valid # True if NED velocity is valid
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# range finder measurements
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float32 range_to_ground # range finder measured range to ground (m)
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# optical flow sensor measurements
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float32[2] flow_pixel_integral # integrated optical flow rate around x and y axes (rad)
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float32[2] flow_gyro_integral # integrated gyro rate around x and y axes (rad)
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uint32 flow_time_integral # integration timespan (usec)
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uint8 flow_quality # Quality of accumulated optical flow data (0 - 255)
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# airspeed
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float32 indicated_airspeed_m_s # indicated airspeed in meters per second, -1 if unknown
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float32 true_airspeed_m_s # true filtered airspeed in meters per second, -1 if unknown
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# external vision measurements
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float32[3] pos_ev # position in earth (NED) frame (metres)
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float32[4] quat_ev # quaternion rotation from earth (NED) to body (XYZ) frame
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float32 pos_err # position error 1-std for each axis (metres)
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float32 ang_err # angular error 1-std for each axis (rad)
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