From 20e987faa98b0f04ef265ec5b58b586c6e3dae6a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Thu, 5 Oct 2017 09:53:53 +0200 Subject: [PATCH] estimator_status: add missing descriptions for control_mode_flags --- msg/estimator_status.msg | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/msg/estimator_status.msg b/msg/estimator_status.msg index 8966fdb3b9..e9ddafd1bd 100644 --- a/msg/estimator_status.msg +++ b/msg/estimator_status.msg @@ -1,13 +1,16 @@ float32[24] states # Internal filter states float32 n_states # Number of states effectively used + 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) + uint8 nan_flags # Bitmask to indicate NaN states uint8 health_flags # Bitmask to indicate sensor health states (vel, pos, hgt) uint8 timeout_flags # Bitmask to indicate timeout flags (vel, pos, hgt) float32[24] covariances # Diagonal Elements of Covariance Matrix + uint16 gps_check_fail_flags # Bitmask to indicate status of GPS checks - see definition below # bits are true when corresponding test has failed uint16 GPS_CHECK_FAIL_MIN_SAT_COUNT = 0 # 0 : minimum required sat count fail @@ -36,6 +39,9 @@ uint32 control_mode_flags # Bitmask to indicate EKF logic state # 12 - true when local position data from external vision is being fused # 13 - true when yaw data from external vision measurements is being fused # 14 - true when height data from external vision measurements is being fused +# 15 - true when synthetic sideslip measurements are being fused +# 16 - true when only the magnetic field states are updated by the magnetometer + uint16 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 @@ -53,6 +59,7 @@ uint16 filter_fault_flags # Bitmask to indicate EKF internal faults # 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 + 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 @@ -68,12 +75,14 @@ uint16 innovation_check_flags # Bitmask to indicate pass/fail status of innovati # 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 + 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 @@ -86,4 +95,5 @@ uint16 solution_status_flags # Bitmask indicating which filter kinematic state o # 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 + float32 time_slip # cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time