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EstimatorInnovations.msg
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EstimatorInnovations.msg
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uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
# GPS
float32[2] gps_hvel # horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)
float32 gps_vvel # vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)
float32[2] gps_hpos # horizontal GPS position innovation (m) and innovation variance (m**2)
float32 gps_vpos # vertical GPS position innovation (m) and innovation variance (m**2)
# External Vision
float32[2] ev_hvel # horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)
float32 ev_vvel # vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)
float32[2] ev_hpos # horizontal external vision position innovation (m) and innovation variance (m**2)
float32 ev_vpos # vertical external vision position innovation (m) and innovation variance (m**2)
# Height sensors
float32 rng_vpos # range sensor height innovation (m) and innovation variance (m**2)
float32 baro_vpos # barometer height innovation (m) and innovation variance (m**2)
# Auxiliary velocity
float32[2] aux_hvel # horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
float32 aux_vvel # vertical auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
# Optical flow
float32[2] flow # flow innvoation (rad/sec) and innovation variance ((rad/sec)**2)
float32[2] terr_flow # flow innvoation (rad/sec) and innovation variance computed by the terrain estimator ((rad/sec)**2)
# Various
float32 heading # heading innovation (rad) and innovation variance (rad**2)
float32[3] mag_field # earth magnetic field innovation (Gauss) and innovation variance (Gauss**2)
float32[3] gravity # gravity innovation from accelerometerr vector (m/s**2)
float32[2] drag # drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2)
float32 airspeed # airspeed innovation (m/sec) and innovation variance ((m/sec)**2)
float32 beta # synthetic sideslip innovation (rad) and innovation variance (rad**2)
float32 hagl # height of ground innovation (m) and innovation variance (m**2)
float32 hagl_rate # height of ground rate innovation (m/s) and innovation variance ((m/s)**2)
# The innovation test ratios are scalar values. In case the field is a vector,
# the test ratio will be put in the first component of the vector.
# TOPICS estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios