forked from Archive/PX4-Autopilot
20 lines
1.0 KiB
Plaintext
20 lines
1.0 KiB
Plaintext
uint64 timestamp # Timestamp in microseconds since boot
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float32[32] states # Internal filter states
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float32 n_states # Number of states effectively used
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float32[3] vibe # Vibration levels in X, Y and Z
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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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float32[28] covariances # Diagonal Elements of Covariance Matrix
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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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# 0 : minimum required sat count fail
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# 1 : minimum required GDoP fail
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# 2 : maximum allowed horizontal position error fail
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# 3 : maximum allowed vertical position error fail
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# 4 : maximum allowed speed error fail
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# 5 : maximum allowed horizontal position drift fail
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# 6 : maximum allowed vertical position drift fail
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# 7 : maximum allowed horizontal speed fail
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# 8 : maximum allowed vertical velocity discrepancy fail
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