EstimatorEventFlags

uint64 timestamp                        # time since system start (microseconds)
uint64 timestamp_sample                 # the timestamp of the raw data (microseconds)

# information events
uint32 information_event_changes        # number of information event changes
bool gps_checks_passed                  #  0 - true when gps quality checks are passing passed
bool reset_vel_to_gps                   #  1 - true when the velocity states are reset to the gps measurement
bool reset_vel_to_flow                  #  2 - true when the velocity states are reset using the optical flow measurement
bool reset_vel_to_vision                #  3 - true when the velocity states are reset to the vision system measurement
bool reset_vel_to_zero                  #  4 - true when the velocity states are reset to zero
bool reset_pos_to_last_known            #  5 - true when the position states are reset to the last known position
bool reset_pos_to_gps                   #  6 - true when the position states are reset to the gps measurement
bool reset_pos_to_vision                #  7 - true when the position states are reset to the vision system measurement
bool starting_gps_fusion                #  8 - true when the filter starts using gps measurements to correct the state estimates
bool starting_vision_pos_fusion         #  9 - true when the filter starts using vision system position measurements to correct the state estimates
bool starting_vision_vel_fusion         # 10 - true when the filter starts using vision system velocity measurements to correct the state estimates
bool starting_vision_yaw_fusion         # 11 - true when the filter starts using vision system yaw  measurements to correct the state estimates
bool yaw_aligned_to_imu_gps             # 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
bool reset_hgt_to_baro                  # 13 - true when the vertical position state is reset to the baro measurement
bool reset_hgt_to_gps                   # 14 - true when the vertical position state is reset to the gps measurement
bool reset_hgt_to_rng                   # 15 - true when the vertical position state is reset to the rng measurement
bool reset_hgt_to_ev                    # 16 - true when the vertical position state is reset to the ev measurement

# warning events
uint32 warning_event_changes            # number of warning event changes
bool gps_quality_poor                   #  0 - true when the gps is failing quality checks
bool gps_fusion_timout                  #  1 - true when the gps data has not been used to correct the state estimates for a significant time period
bool gps_data_stopped                   #  2 - true when the gps data has stopped for a significant time period
bool gps_data_stopped_using_alternate   #  3 - true when the gps data has stopped for a significant time period but the filter is able to use other sources of data to maintain navigation
bool height_sensor_timeout              #  4 - true when the height sensor has not been used to correct the state estimates for a significant time period
bool stopping_navigation                #  5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation
bool invalid_accel_bias_cov_reset       #  6 - true when the filter has detected bad acceerometer bias state esitmstes and has reset the corresponding covariance matrix elements
bool bad_yaw_using_gps_course           #  7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course
bool stopping_mag_use                   #  8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetometer data
bool vision_data_stopped                #  9 - true when the vision system data has stopped for a significant time period
bool emergency_yaw_reset_mag_stopped    # 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetometer data
bool emergency_yaw_reset_gps_yaw_stopped # 11 - true when the filter has detected bad GNSS yaw data, has reset the yaw to anothter source of data and has stopped further use of the GNSS yaw data

PreviousEstimatorBias3d NextEstimatorGpsStatus

Last updated 1 year ago

uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) # information events uint32 information_event_changes # number of information event changes bool gps_checks_passed # 0 - true when gps quality checks are passing passed bool reset_vel_to_gps # 1 - true when the velocity states are reset to the gps measurement bool reset_vel_to_flow # 2 - true when the velocity states are reset using the optical flow measurement bool reset_vel_to_vision # 3 - true when the velocity states are reset to the vision system measurement bool reset_vel_to_zero # 4 - true when the velocity states are reset to zero bool reset_pos_to_last_known # 5 - true when the position states are reset to the last known position bool reset_pos_to_gps # 6 - true when the position states are reset to the gps measurement bool reset_pos_to_vision # 7 - true when the position states are reset to the vision system measurement bool starting_gps_fusion # 8 - true when the filter starts using gps measurements to correct the state estimates bool starting_vision_pos_fusion # 9 - true when the filter starts using vision system position measurements to correct the state estimates bool starting_vision_vel_fusion # 10 - true when the filter starts using vision system velocity measurements to correct the state estimates bool starting_vision_yaw_fusion # 11 - true when the filter starts using vision system yaw measurements to correct the state estimates bool yaw_aligned_to_imu_gps # 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data bool reset_hgt_to_baro # 13 - true when the vertical position state is reset to the baro measurement bool reset_hgt_to_gps # 14 - true when the vertical position state is reset to the gps measurement bool reset_hgt_to_rng # 15 - true when the vertical position state is reset to the rng measurement bool reset_hgt_to_ev # 16 - true when the vertical position state is reset to the ev measurement # warning events uint32 warning_event_changes # number of warning event changes bool gps_quality_poor # 0 - true when the gps is failing quality checks bool gps_fusion_timout # 1 - true when the gps data has not been used to correct the state estimates for a significant time period bool gps_data_stopped # 2 - true when the gps data has stopped for a significant time period bool gps_data_stopped_using_alternate # 3 - true when the gps data has stopped for a significant time period but the filter is able to use other sources of data to maintain navigation bool height_sensor_timeout # 4 - true when the height sensor has not been used to correct the state estimates for a significant time period bool stopping_navigation # 5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation bool invalid_accel_bias_cov_reset # 6 - true when the filter has detected bad acceerometer bias state esitmstes and has reset the corresponding covariance matrix elements bool bad_yaw_using_gps_course # 7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course bool stopping_mag_use # 8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetometer data bool vision_data_stopped # 9 - true when the vision system data has stopped for a significant time period bool emergency_yaw_reset_mag_stopped # 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetometer data bool emergency_yaw_reset_gps_yaw_stopped # 11 - true when the filter has detected bad GNSS yaw data, has reset the yaw to anothter source of data and has stopped further use of the GNSS yaw data