forked from PX4/PX4-Autopilot
-
Notifications
You must be signed in to change notification settings - Fork 4
/
estimator_status.msg
133 lines (120 loc) · 9.54 KB
/
estimator_status.msg
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
float32[3] vibe # IMU vibration metrics in the following array locations
# 0 : Gyro delta angle coning metric = filtered length of (delta_angle x prev_delta_angle)
# 1 : Gyro high frequency vibe = filtered length of (delta_angle - prev_delta_angle)
# 2 : Accel high frequency vibe = filtered length of (delta_velocity - prev_delta_velocity)
float32[3] output_tracking_error # return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m)
uint16 gps_check_fail_flags # Bitmask to indicate status of GPS checks - see definition below
# bits are true when corresponding test has failed
uint8 GPS_CHECK_FAIL_GPS_FIX = 0 # 0 : insufficient fix type (no 3D solution)
uint8 GPS_CHECK_FAIL_MIN_SAT_COUNT = 1 # 1 : minimum required sat count fail
uint8 GPS_CHECK_FAIL_MAX_PDOP = 2 # 2 : maximum allowed PDOP fail
uint8 GPS_CHECK_FAIL_MAX_HORZ_ERR = 3 # 3 : maximum allowed horizontal position error fail
uint8 GPS_CHECK_FAIL_MAX_VERT_ERR = 4 # 4 : maximum allowed vertical position error fail
uint8 GPS_CHECK_FAIL_MAX_SPD_ERR = 5 # 5 : maximum allowed speed error fail
uint8 GPS_CHECK_FAIL_MAX_HORZ_DRIFT = 6 # 6 : maximum allowed horizontal position drift fail - requires stationary vehicle
uint8 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 7 # 7 : maximum allowed vertical position drift fail - requires stationary vehicle
uint8 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 8 # 8 : maximum allowed horizontal speed fail - requires stationary vehicle
uint8 GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 9 # 9 : maximum allowed vertical velocity discrepancy fail
uint32 control_mode_flags # Bitmask to indicate EKF logic state
uint8 CS_TILT_ALIGN = 0 # 0 - true if the filter tilt alignment is complete
uint8 CS_YAW_ALIGN = 1 # 1 - true if the filter yaw alignment is complete
uint8 CS_GPS = 2 # 2 - true if GPS measurements are being fused
uint8 CS_OPT_FLOW = 3 # 3 - true if optical flow measurements are being fused
uint8 CS_MAG_HDG = 4 # 4 - true if a simple magnetic yaw heading is being fused
uint8 CS_MAG_3D = 5 # 5 - true if 3-axis magnetometer measurement are being fused
uint8 CS_MAG_DEC = 6 # 6 - true if synthetic magnetic declination measurements are being fused
uint8 CS_IN_AIR = 7 # 7 - true when thought to be airborne
uint8 CS_WIND = 8 # 8 - true when wind velocity is being estimated
uint8 CS_BARO_HGT = 9 # 9 - true when baro height is being fused as a primary height reference
uint8 CS_RNG_HGT = 10 # 10 - true when range finder height is being fused as a primary height reference
uint8 CS_GPS_HGT = 11 # 11 - true when GPS height is being fused as a primary height reference
uint8 CS_EV_POS = 12 # 12 - true when local position data from external vision is being fused
uint8 CS_EV_YAW = 13 # 13 - true when yaw data from external vision measurements is being fused
uint8 CS_EV_HGT = 14 # 14 - true when height data from external vision measurements is being fused
uint8 CS_BETA = 15 # 15 - true when synthetic sideslip measurements are being fused
uint8 CS_MAG_FIELD = 16 # 16 - true when only the magnetic field states are updated by the magnetometer
uint8 CS_FIXED_WING = 17 # 17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip
uint8 CS_MAG_FAULT = 18 # 18 - true when the magnetomer has been declared faulty and is no longer being used
uint8 CS_ASPD = 19 # 19 - true when airspeed measurements are being fused
uint8 CS_GND_EFFECT = 20 # 20 - true when when protection from ground effect induced static pressure rise is active
uint8 CS_RNG_STUCK = 21 # 21 - true when a stuck range finder sensor has been detected
uint8 CS_GPS_YAW = 22 # 22 - true when yaw (not ground course) data from a GPS receiver is being fused
uint8 CS_MAG_ALIGNED = 23 # 23 - true when the in-flight mag field alignment has been completed
uint8 CS_EV_VEL = 24 # 24 - true when local frame velocity data fusion from external vision measurements is intended
uint8 CS_SYNTHETIC_MAG_Z = 25 # 25 - true when we are using a synthesized measurement for the magnetometer Z component
uint8 CS_VEHICLE_AT_REST = 26 # 26 - true when the vehicle is at rest
uint8 CS_GPS_YAW_FAULT = 27 # 27 - true when the GNSS heading has been declared faulty and is no longer being used
uint32 filter_fault_flags # Bitmask to indicate EKF internal faults
# 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
# 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error
# 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error
# 3 - true if the fusion of the magnetic heading has encountered a numerical error
# 4 - true if the fusion of the magnetic declination has encountered a numerical error
# 5 - true if fusion of the airspeed has encountered a numerical error
# 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
# 7 - true if fusion of the optical flow X axis has encountered a numerical error
# 8 - true if fusion of the optical flow Y axis has encountered a numerical error
# 9 - true if fusion of the North velocity has encountered a numerical error
# 10 - true if fusion of the East velocity has encountered a numerical error
# 11 - true if fusion of the Down velocity has encountered a numerical error
# 12 - true if fusion of the North position has encountered a numerical error
# 13 - true if fusion of the East position has encountered a numerical error
# 14 - true if fusion of the Down position has encountered a numerical error
# 15 - true if bad delta velocity bias estimates have been detected
# 16 - true if bad vertical accelerometer data has been detected
# 17 - true if delta velocity data contains clipping (asymmetric railing)
float32 pos_horiz_accuracy # 1-Sigma estimated horizontal position accuracy relative to the estimators origin (m)
float32 pos_vert_accuracy # 1-Sigma estimated vertical position accuracy relative to the estimators origin (m)
uint16 innovation_check_flags # Bitmask to indicate pass/fail status of innovation consistency checks
# 0 - true if velocity observations have been rejected
# 1 - true if horizontal position observations have been rejected
# 2 - true if true if vertical position observations have been rejected
# 3 - true if the X magnetometer observation has been rejected
# 4 - true if the Y magnetometer observation has been rejected
# 5 - true if the Z magnetometer observation has been rejected
# 6 - true if the yaw observation has been rejected
# 7 - true if the airspeed observation has been rejected
# 8 - true if the synthetic sideslip observation has been rejected
# 9 - true if the height above ground observation has been rejected
# 10 - true if the X optical flow observation has been rejected
# 11 - true if the Y optical flow observation has been rejected
float32 mag_test_ratio # ratio of the largest magnetometer innovation component to the innovation test limit
float32 vel_test_ratio # ratio of the largest velocity innovation component to the innovation test limit
float32 pos_test_ratio # ratio of the largest horizontal position innovation component to the innovation test limit
float32 hgt_test_ratio # ratio of the vertical position innovation to the innovation test limit
float32 tas_test_ratio # ratio of the true airspeed innovation to the innovation test limit
float32 hagl_test_ratio # ratio of the height above ground innovation to the innovation test limit
float32 beta_test_ratio # ratio of the synthetic sideslip innovation to the innovation test limit
uint16 solution_status_flags # Bitmask indicating which filter kinematic state outputs are valid for flight control use.
# 0 - True if the attitude estimate is good
# 1 - True if the horizontal velocity estimate is good
# 2 - True if the vertical velocity estimate is good
# 3 - True if the horizontal position (relative) estimate is good
# 4 - True if the horizontal position (absolute) estimate is good
# 5 - True if the vertical position (absolute) estimate is good
# 6 - True if the vertical position (above ground) estimate is good
# 7 - True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
# 8 - True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
# 9 - True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
# 10 - True if the EKF has detected a GPS glitch
# 11 - True if the EKF has detected bad accelerometer data
uint8 reset_count_vel_ne # number of horizontal position reset events (allow to wrap if count exceeds 255)
uint8 reset_count_vel_d # number of vertical velocity reset events (allow to wrap if count exceeds 255)
uint8 reset_count_pos_ne # number of horizontal position reset events (allow to wrap if count exceeds 255)
uint8 reset_count_pod_d # number of vertical position reset events (allow to wrap if count exceeds 255)
uint8 reset_count_quat # number of quaternion reset events (allow to wrap if count exceeds 255)
float32 time_slip # cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time
bool pre_flt_fail_innov_heading
bool pre_flt_fail_innov_vel_horiz
bool pre_flt_fail_innov_vel_vert
bool pre_flt_fail_innov_height
bool pre_flt_fail_mag_field_disturbed
uint32 accel_device_id
uint32 gyro_device_id
uint32 baro_device_id
uint32 mag_device_id
# legacy local position estimator (LPE) flags
uint8 health_flags # Bitmask to indicate sensor health states (vel, pos, hgt)
uint8 timeout_flags # Bitmask to indicate timeout flags (vel, pos, hgt)