msg/estimator_selector_status.msg

uint64 timestamp		# time since system start (microseconds)

uint8 primary_instance

uint8 instances_available

uint32 instance_changed_count
uint64 last_instance_change

uint32 accel_device_id
uint32 baro_device_id
uint32 gyro_device_id
uint32 mag_device_id

float32[9] combined_test_ratio
float32[9] relative_test_ratio
bool[9] healthy

float32[4] accumulated_gyro_error
float32[4] accumulated_accel_error
bool gyro_fault_detected
bool accel_fault_detected
Multi-EKF support (ekf2) - ekf2 can now run in multi-instance mode (currently up to 9 instances) - in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude) - new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude) - sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro) - existing consumers of estimator_status must check estimator_selector_status to select current primary instance status - ekf2 single instance mode is still fully supported and the default Co-authored-by: Paul Riseborough <gncsolns@gmail.com> 2020-10-27 10:56:11 -04:00			`uint64 timestamp # time since system start (microseconds)`

			`uint8 primary_instance`

			`uint8 instances_available`

			`uint32 instance_changed_count`
			`uint64 last_instance_change`

			`uint32 accel_device_id`
			`uint32 baro_device_id`
			`uint32 gyro_device_id`
			`uint32 mag_device_id`

			`float32[9] combined_test_ratio`
			`float32[9] relative_test_ratio`
			`bool[9] healthy`

			`float32[4] accumulated_gyro_error`
			`float32[4] accumulated_accel_error`
			`bool gyro_fault_detected`
			`bool accel_fault_detected`