mirror of
https://github.com/PX4/PX4-Autopilot.git
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docs: auto-sync metadata [skip ci]
Co-Authored-By: PX4 BuildBot <bot@px4.io>
This commit is contained in:
PX4BuildBot
@@ -21790,6 +21790,32 @@ EKF2 selector maximum accumulated velocity threshold for comparing accelerometer
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | | | | 2.0 | m/s |
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### EKF2_SENS_EN (`INT32`) {#EKF2_SENS_EN}
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Sensor fusion enable bitmask.
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Bitmask to control which sensor fusion sources are enabled. Sources whose bit is cleared will be disabled. Only applied while disarmed. For in-flight changes use the MAVLink command VEHICLE_CMD_ESTIMATOR_SENSOR_ENABLE or the individual CTRL params (e.g. EKF2_GPS_CTRL, EKF2_BARO_CTRL).
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**Bitmask:**
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- `0`: GNSS 0
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- `1`: GNSS 1
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- `2`: Optical flow
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- `3`: External vision
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- `4`: Aux global position 0
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- `5`: Aux global position 1
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- `6`: Aux global position 2
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- `7`: Aux global position 3
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- `8`: Barometer
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- `9`: Range finder
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- `10`: Magnetometer
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- `11`: Airspeed
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- `12`: Ranging beacon
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| | 0 | 8191 | | 8191 | |
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### EKF2_SYNT_MAG_Z (`INT32`) {#EKF2_SYNT_MAG_Z}
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Enable synthetic magnetometer Z component measurement.
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+197
-196
@@ -95,206 +95,207 @@ They are not build into the module, and hence are neither published or subscribe
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::: details See messages
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- [CellularStatus](../msg_docs/CellularStatus.md)
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- [SensorAirflow](../msg_docs/SensorAirflow.md)
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- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
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- [FollowTarget](../msg_docs/FollowTarget.md)
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- [EstimatorBias](../msg_docs/EstimatorBias.md)
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- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
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- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
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- [LedControl](../msg_docs/LedControl.md)
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- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
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- [VelocityLimits](../msg_docs/VelocityLimits.md)
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- [QshellReq](../msg_docs/QshellReq.md)
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- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
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- [SystemPower](../msg_docs/SystemPower.md)
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- [UlogStream](../msg_docs/UlogStream.md)
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- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
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- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
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- [DeviceInformation](../msg_docs/DeviceInformation.md)
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- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
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- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
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- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
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- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
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- [HeaterStatus](../msg_docs/HeaterStatus.md)
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- [WheelEncoders](../msg_docs/WheelEncoders.md)
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- [GpioIn](../msg_docs/GpioIn.md)
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- [CameraTrigger](../msg_docs/CameraTrigger.md)
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- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
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- [RcParameterMap](../msg_docs/RcParameterMap.md)
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- [SensorSelection](../msg_docs/SensorSelection.md)
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- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
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- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
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- [PpsCapture](../msg_docs/PpsCapture.md)
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- [DatamanResponse](../msg_docs/DatamanResponse.md)
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- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
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- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
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- [AirspeedWind](../msg_docs/AirspeedWind.md)
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- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
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- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
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- [OrbTest](../msg_docs/OrbTest.md)
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- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
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- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
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- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
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- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
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- [VehicleImu](../msg_docs/VehicleImu.md)
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- [EventV0](../msg_docs/EventV0.md)
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- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
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- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
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- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
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- [EscReport](../msg_docs/EscReport.md)
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- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
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- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
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- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
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- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
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- [Ping](../msg_docs/Ping.md)
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- [BatteryInfo](../msg_docs/BatteryInfo.md)
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- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
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- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
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- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
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- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
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- [DebugValue](../msg_docs/DebugValue.md)
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- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
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- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
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- [SensorUwb](../msg_docs/SensorUwb.md)
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- [Gripper](../msg_docs/Gripper.md)
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- [CameraStatus](../msg_docs/CameraStatus.md)
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- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
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- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
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- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
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- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
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- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
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- [RaptorStatus](../msg_docs/RaptorStatus.md)
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- [InputRc](../msg_docs/InputRc.md)
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- [Mission](../msg_docs/Mission.md)
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- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
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- [GpioConfig](../msg_docs/GpioConfig.md)
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- [Rpm](../msg_docs/Rpm.md)
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- [IrlockReport](../msg_docs/IrlockReport.md)
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- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
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- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
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- [HomePositionV0](../msg_docs/HomePositionV0.md)
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- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
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- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
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- [NeuralControl](../msg_docs/NeuralControl.md)
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- [CameraCapture](../msg_docs/CameraCapture.md)
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- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
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- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
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- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
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- [RcChannels](../msg_docs/RcChannels.md)
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- [GpioOut](../msg_docs/GpioOut.md)
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- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
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- [TuneControl](../msg_docs/TuneControl.md)
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- [SensorTemp](../msg_docs/SensorTemp.md)
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- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
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- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
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- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
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- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
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- [PowerButtonState](../msg_docs/PowerButtonState.md)
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- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
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- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
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- [Cpuload](../msg_docs/Cpuload.md)
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- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
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- [EscEepromRead](../msg_docs/EscEepromRead.md)
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- [MavlinkLog](../msg_docs/MavlinkLog.md)
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- [QshellRetval](../msg_docs/QshellRetval.md)
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- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
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- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
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- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
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- [GpsDump](../msg_docs/GpsDump.md)
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- [LoggerStatus](../msg_docs/LoggerStatus.md)
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- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
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- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
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- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
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- [PowerMonitor](../msg_docs/PowerMonitor.md)
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- [VehicleRoi](../msg_docs/VehicleRoi.md)
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- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
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- [Airspeed](../msg_docs/Airspeed.md)
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- [RangingBeacon](../msg_docs/RangingBeacon.md)
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- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
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- [MissionResult](../msg_docs/MissionResult.md)
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- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
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- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
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- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
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- [EscStatus](../msg_docs/EscStatus.md)
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- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
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- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
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- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
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- [RadioStatus](../msg_docs/RadioStatus.md)
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- [SensorAccel](../msg_docs/SensorAccel.md)
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- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
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- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
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- [GpsInjectData](../msg_docs/GpsInjectData.md)
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- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
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- [GainCompression](../msg_docs/GainCompression.md)
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- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
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- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
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- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
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- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
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- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
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- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
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- [MagWorkerData](../msg_docs/MagWorkerData.md)
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- [ButtonEvent](../msg_docs/ButtonEvent.md)
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- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
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- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
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- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
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- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
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- [PwmInput](../msg_docs/PwmInput.md)
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- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
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- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
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- [VehicleAirData](../msg_docs/VehicleAirData.md)
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- [MountOrientation](../msg_docs/MountOrientation.md)
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- [RaptorInput](../msg_docs/RaptorInput.md)
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- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
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- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
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- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
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- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
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- [OrbitStatus](../msg_docs/OrbitStatus.md)
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- [GpioRequest](../msg_docs/GpioRequest.md)
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- [SensorsStatus](../msg_docs/SensorsStatus.md)
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- [Vtx](../msg_docs/Vtx.md)
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- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
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- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
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- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
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- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
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- [SensorBaro](../msg_docs/SensorBaro.md)
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- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
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- [Event](../msg_docs/Event.md)
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- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
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- [ActuatorTest](../msg_docs/ActuatorTest.md)
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- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
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- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
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- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
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- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
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- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
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- [RtlStatus](../msg_docs/RtlStatus.md)
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- [DebugArray](../msg_docs/DebugArray.md)
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- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
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- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
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- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
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- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
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- [LogMessage](../msg_docs/LogMessage.md)
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- [TecsStatus](../msg_docs/TecsStatus.md)
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- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
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- [DatamanRequest](../msg_docs/DatamanRequest.md)
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- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
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- [ActionRequest](../msg_docs/ActionRequest.md)
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- [SensorMag](../msg_docs/SensorMag.md)
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- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
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- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
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- [HealthReport](../msg_docs/HealthReport.md)
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- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
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- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
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- [DebugVect](../msg_docs/DebugVect.md)
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- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
|
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- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
|
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- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
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- [SensorGyro](../msg_docs/SensorGyro.md)
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- [GimbalControls](../msg_docs/GimbalControls.md)
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- [EstimatorStates](../msg_docs/EstimatorStates.md)
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- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
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- [GeofenceResult](../msg_docs/GeofenceResult.md)
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- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
|
||||
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
|
||||
- [CameraTrigger](../msg_docs/CameraTrigger.md)
|
||||
- [CameraCapture](../msg_docs/CameraCapture.md)
|
||||
- [GpioRequest](../msg_docs/GpioRequest.md)
|
||||
- [IrlockReport](../msg_docs/IrlockReport.md)
|
||||
- [VelocityLimits](../msg_docs/VelocityLimits.md)
|
||||
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
|
||||
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
|
||||
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
|
||||
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
|
||||
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
|
||||
- [SensorBaro](../msg_docs/SensorBaro.md)
|
||||
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
|
||||
- [QshellReq](../msg_docs/QshellReq.md)
|
||||
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
|
||||
- [DebugArray](../msg_docs/DebugArray.md)
|
||||
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
|
||||
- [EstimatorBias](../msg_docs/EstimatorBias.md)
|
||||
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
|
||||
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
|
||||
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
|
||||
- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
|
||||
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
|
||||
- [GpsDump](../msg_docs/GpsDump.md)
|
||||
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
|
||||
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
|
||||
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
|
||||
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
|
||||
- [BatteryInfo](../msg_docs/BatteryInfo.md)
|
||||
- [GpioConfig](../msg_docs/GpioConfig.md)
|
||||
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
|
||||
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
|
||||
- [GainCompression](../msg_docs/GainCompression.md)
|
||||
- [VehicleImu](../msg_docs/VehicleImu.md)
|
||||
- [RaptorStatus](../msg_docs/RaptorStatus.md)
|
||||
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
|
||||
- [TuneControl](../msg_docs/TuneControl.md)
|
||||
- [SensorGyro](../msg_docs/SensorGyro.md)
|
||||
- [DatamanRequest](../msg_docs/DatamanRequest.md)
|
||||
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
|
||||
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
|
||||
- [Cpuload](../msg_docs/Cpuload.md)
|
||||
- [UlogStream](../msg_docs/UlogStream.md)
|
||||
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
|
||||
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
|
||||
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
|
||||
- [SensorAccel](../msg_docs/SensorAccel.md)
|
||||
- [FollowTarget](../msg_docs/FollowTarget.md)
|
||||
- [LogMessage](../msg_docs/LogMessage.md)
|
||||
- [HomePositionV0](../msg_docs/HomePositionV0.md)
|
||||
- [Event](../msg_docs/Event.md)
|
||||
- [MissionResult](../msg_docs/MissionResult.md)
|
||||
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
|
||||
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
|
||||
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
|
||||
- [EstimatorStates](../msg_docs/EstimatorStates.md)
|
||||
- [PwmInput](../msg_docs/PwmInput.md)
|
||||
- [SystemPower](../msg_docs/SystemPower.md)
|
||||
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
|
||||
- [TecsStatus](../msg_docs/TecsStatus.md)
|
||||
- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
|
||||
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
|
||||
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
|
||||
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
|
||||
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
|
||||
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
|
||||
- [PowerMonitor](../msg_docs/PowerMonitor.md)
|
||||
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
|
||||
- [SensorUwb](../msg_docs/SensorUwb.md)
|
||||
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
|
||||
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
|
||||
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
|
||||
- [NeuralControl](../msg_docs/NeuralControl.md)
|
||||
- [MagWorkerData](../msg_docs/MagWorkerData.md)
|
||||
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
|
||||
- [LedControl](../msg_docs/LedControl.md)
|
||||
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
|
||||
- [VehicleAirData](../msg_docs/VehicleAirData.md)
|
||||
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
|
||||
- [CellularStatus](../msg_docs/CellularStatus.md)
|
||||
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
|
||||
- [MountOrientation](../msg_docs/MountOrientation.md)
|
||||
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
|
||||
- [EventV0](../msg_docs/EventV0.md)
|
||||
- [RcChannels](../msg_docs/RcChannels.md)
|
||||
- [ActionRequest](../msg_docs/ActionRequest.md)
|
||||
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
|
||||
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
|
||||
- [HealthReport](../msg_docs/HealthReport.md)
|
||||
- [GimbalControls](../msg_docs/GimbalControls.md)
|
||||
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
|
||||
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
|
||||
- [OrbitStatus](../msg_docs/OrbitStatus.md)
|
||||
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
|
||||
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
|
||||
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
|
||||
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
|
||||
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
|
||||
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
|
||||
- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md)
|
||||
- [InputRc](../msg_docs/InputRc.md)
|
||||
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
|
||||
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
|
||||
- [RcParameterMap](../msg_docs/RcParameterMap.md)
|
||||
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
|
||||
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
|
||||
- [DebugVect](../msg_docs/DebugVect.md)
|
||||
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
|
||||
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
|
||||
- [SensorAirflow](../msg_docs/SensorAirflow.md)
|
||||
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
|
||||
- [PowerButtonState](../msg_docs/PowerButtonState.md)
|
||||
- [DeviceInformation](../msg_docs/DeviceInformation.md)
|
||||
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
|
||||
- [HeaterStatus](../msg_docs/HeaterStatus.md)
|
||||
- [Rpm](../msg_docs/Rpm.md)
|
||||
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
|
||||
- [WheelEncoders](../msg_docs/WheelEncoders.md)
|
||||
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
|
||||
- [Gripper](../msg_docs/Gripper.md)
|
||||
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
|
||||
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
|
||||
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
|
||||
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
|
||||
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
|
||||
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
|
||||
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
|
||||
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
|
||||
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
|
||||
- [SensorCorrection](../msg_docs/SensorCorrection.md)
|
||||
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
|
||||
- [RaptorInput](../msg_docs/RaptorInput.md)
|
||||
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
|
||||
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
|
||||
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
|
||||
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
|
||||
- [QshellRetval](../msg_docs/QshellRetval.md)
|
||||
- [Vtx](../msg_docs/Vtx.md)
|
||||
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
|
||||
- [GeofenceResult](../msg_docs/GeofenceResult.md)
|
||||
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
|
||||
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
|
||||
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
|
||||
- [RtlStatus](../msg_docs/RtlStatus.md)
|
||||
- [RadioStatus](../msg_docs/RadioStatus.md)
|
||||
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
|
||||
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
|
||||
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
|
||||
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
|
||||
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
|
||||
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
|
||||
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
|
||||
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
|
||||
- [RangingBeacon](../msg_docs/RangingBeacon.md)
|
||||
- [AdcReport](../msg_docs/AdcReport.md)
|
||||
- [SensorCorrection](../msg_docs/SensorCorrection.md)
|
||||
- [Airspeed](../msg_docs/Airspeed.md)
|
||||
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
|
||||
- [DatamanResponse](../msg_docs/DatamanResponse.md)
|
||||
- [OrbTest](../msg_docs/OrbTest.md)
|
||||
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
|
||||
- [PpsCapture](../msg_docs/PpsCapture.md)
|
||||
- [ActuatorTest](../msg_docs/ActuatorTest.md)
|
||||
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
|
||||
- [AirspeedWind](../msg_docs/AirspeedWind.md)
|
||||
- [SensorMag](../msg_docs/SensorMag.md)
|
||||
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
|
||||
- [EscReport](../msg_docs/EscReport.md)
|
||||
- [MavlinkLog](../msg_docs/MavlinkLog.md)
|
||||
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
|
||||
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
|
||||
- [SensorTemp](../msg_docs/SensorTemp.md)
|
||||
- [GpioOut](../msg_docs/GpioOut.md)
|
||||
- [Mission](../msg_docs/Mission.md)
|
||||
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
|
||||
- [ButtonEvent](../msg_docs/ButtonEvent.md)
|
||||
- [GpsInjectData](../msg_docs/GpsInjectData.md)
|
||||
- [EscStatus](../msg_docs/EscStatus.md)
|
||||
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
|
||||
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
|
||||
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
|
||||
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
|
||||
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
|
||||
- [EscEepromRead](../msg_docs/EscEepromRead.md)
|
||||
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
|
||||
- [SensorsStatus](../msg_docs/SensorsStatus.md)
|
||||
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
|
||||
- [VehicleRoi](../msg_docs/VehicleRoi.md)
|
||||
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
|
||||
- [SensorSelection](../msg_docs/SensorSelection.md)
|
||||
- [CameraStatus](../msg_docs/CameraStatus.md)
|
||||
- [GpioIn](../msg_docs/GpioIn.md)
|
||||
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
|
||||
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
|
||||
- [LoggerStatus](../msg_docs/LoggerStatus.md)
|
||||
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
|
||||
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
|
||||
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
|
||||
- [DebugValue](../msg_docs/DebugValue.md)
|
||||
:::
|
||||
|
||||
@@ -0,0 +1,65 @@
|
||||
---
|
||||
pageClass: is-wide-page
|
||||
---
|
||||
|
||||
# EstimatorFusionControl (UORB message)
|
||||
|
||||
**TOPICS:** estimator_fusion_control
|
||||
|
||||
## Fields
|
||||
|
||||
| Name | Type | Unit [Frame] | Range/Enum | Description |
|
||||
| --------------- | --------- | ------------ | ---------- | -------------------------------------- |
|
||||
| timestamp | `uint64` | | | time since system start (microseconds) |
|
||||
| gps_intended | `bool[2]` | | |
|
||||
| of_intended | `bool` | | |
|
||||
| ev_intended | `bool` | | |
|
||||
| agp_intended | `bool[4]` | | |
|
||||
| baro_intended | `bool` | | |
|
||||
| rng_intended | `bool` | | |
|
||||
| mag_intended | `bool` | | |
|
||||
| aspd_intended | `bool` | | |
|
||||
| rngbcn_intended | `bool` | | |
|
||||
| gps_active | `bool[2]` | | |
|
||||
| of_active | `bool` | | |
|
||||
| ev_active | `bool` | | |
|
||||
| agp_active | `bool[4]` | | |
|
||||
| baro_active | `bool` | | |
|
||||
| rng_active | `bool` | | |
|
||||
| mag_active | `bool` | | |
|
||||
| aspd_active | `bool` | | |
|
||||
| rngbcn_active | `bool` | | |
|
||||
|
||||
## Source Message
|
||||
|
||||
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorFusionControl.msg)
|
||||
|
||||
::: details Click here to see original file
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
# sensor intended for fusion (enabled via EKF2_SENS_EN AND CTRL param != disabled)
|
||||
bool[2] gps_intended
|
||||
bool of_intended
|
||||
bool ev_intended
|
||||
bool[4] agp_intended
|
||||
bool baro_intended
|
||||
bool rng_intended
|
||||
bool mag_intended
|
||||
bool aspd_intended
|
||||
bool rngbcn_intended
|
||||
|
||||
# whether the estimator is actively fusing data from each source
|
||||
bool[2] gps_active
|
||||
bool of_active
|
||||
bool ev_active
|
||||
bool[4] agp_active
|
||||
bool baro_active
|
||||
bool rng_active
|
||||
bool mag_active
|
||||
bool aspd_active
|
||||
bool rngbcn_active
|
||||
```
|
||||
|
||||
:::
|
||||
@@ -1458,6 +1458,20 @@ None
|
||||
| 6 | | | ? |
|
||||
| 7 | | | ? |
|
||||
|
||||
### VEHICLE_CMD_ESTIMATOR_SENSOR_ENABLE (43006)
|
||||
|
||||
Enable/disable estimator sensor fusion.
|
||||
|
||||
| Param | Units | Range/Enum | Description |
|
||||
| ----- | ----- | ---------- | ---------------------------------- |
|
||||
| 1 | | | Source (FUSION*SOURCE*\*) |
|
||||
| 2 | | | Sensor instance (0-based) |
|
||||
| 3 | | | Enable (1) or Disable (0) |
|
||||
| 4 | | | Estimator Instance (NaN: not used) |
|
||||
| 5 | | | Empty |
|
||||
| 6 | | | Empty |
|
||||
| 7 | | | Empty |
|
||||
|
||||
### VEHICLE_CMD_PX4_INTERNAL_START (65537)
|
||||
|
||||
Start of PX4 internal only vehicle commands (> UINT16_MAX).
|
||||
@@ -1544,6 +1558,15 @@ Change mode by specifying nav_state directly.
|
||||
| --------------------------------------------------------------------------------------------------------- | -------- | ----- | ----------------------------------------------------------------------------------------------------- |
|
||||
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |
|
||||
| <a id="#PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION"></a> PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION | `uint16` | 3 | Param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration. |
|
||||
| <a id="#FUSION_SOURCE_GPS"></a> FUSION_SOURCE_GPS | `uint8` | 0 | GNSS (EKF2_GPS{i}\_CTRL, use instance param) |
|
||||
| <a id="#FUSION_SOURCE_OF"></a> FUSION_SOURCE_OF | `uint8` | 1 | Optical Flow (EKF2_OF_CTRL) |
|
||||
| <a id="#FUSION_SOURCE_EV"></a> FUSION_SOURCE_EV | `uint8` | 2 | External Vision (EKF2_EV_CTRL) |
|
||||
| <a id="#FUSION_SOURCE_AGP"></a> FUSION_SOURCE_AGP | `uint8` | 3 | Auxiliary Global Position (EKF2_AGP{i}\_CTRL, use instance param) |
|
||||
| <a id="#FUSION_SOURCE_BARO"></a> FUSION_SOURCE_BARO | `uint8` | 4 | Barometer (EKF2_BARO_CTRL) |
|
||||
| <a id="#FUSION_SOURCE_RNG"></a> FUSION_SOURCE_RNG | `uint8` | 5 | Range Finder (EKF2_RNG_CTRL) |
|
||||
| <a id="#FUSION_SOURCE_MAG"></a> FUSION_SOURCE_MAG | `uint8` | 6 | Magnetometer (EKF2_MAG_TYPE) |
|
||||
| <a id="#FUSION_SOURCE_ASPD"></a> FUSION_SOURCE_ASPD | `uint8` | 7 | Airspeed (EKF2_ARSP_THR) |
|
||||
| <a id="#FUSION_SOURCE_RNGBCN"></a> FUSION_SOURCE_RNGBCN | `uint8` | 8 | Ranging Beacon |
|
||||
| <a id="#VEHICLE_MOUNT_MODE_RETRACT"></a> VEHICLE_MOUNT_MODE_RETRACT | `uint8` | 0 | Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization. |
|
||||
| <a id="#VEHICLE_MOUNT_MODE_NEUTRAL"></a> VEHICLE_MOUNT_MODE_NEUTRAL | `uint8` | 1 | Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |
|
||||
| <a id="#VEHICLE_MOUNT_MODE_MAVLINK_TARGETING"></a> VEHICLE_MOUNT_MODE_MAVLINK_TARGETING | `uint8` | 2 | Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization. |
|
||||
@@ -1710,6 +1733,17 @@ uint16 VEHICLE_CMD_DO_WINCH = 42600 # Command to operate winch.
|
||||
|
||||
uint16 VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE = 43003 # External reset of estimator global position when dead reckoning.
|
||||
uint16 VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE = 43004
|
||||
uint16 VEHICLE_CMD_ESTIMATOR_SENSOR_ENABLE = 43006 # Enable/disable estimator sensor fusion. |Source (FUSION_SOURCE_*)|Sensor instance (0-based)|Enable (1) or Disable (0)|Estimator Instance (NaN: not used)|Empty|Empty|Empty|
|
||||
# Sensor fusion source types for VEHICLE_CMD_ESTIMATOR_SENSOR_ENABLE
|
||||
uint8 FUSION_SOURCE_GPS = 0 # GNSS (EKF2_GPS{i}_CTRL, use instance param)
|
||||
uint8 FUSION_SOURCE_OF = 1 # Optical Flow (EKF2_OF_CTRL)
|
||||
uint8 FUSION_SOURCE_EV = 2 # External Vision (EKF2_EV_CTRL)
|
||||
uint8 FUSION_SOURCE_AGP = 3 # Auxiliary Global Position (EKF2_AGP{i}_CTRL, use instance param)
|
||||
uint8 FUSION_SOURCE_BARO = 4 # Barometer (EKF2_BARO_CTRL)
|
||||
uint8 FUSION_SOURCE_RNG = 5 # Range Finder (EKF2_RNG_CTRL)
|
||||
uint8 FUSION_SOURCE_MAG = 6 # Magnetometer (EKF2_MAG_TYPE)
|
||||
uint8 FUSION_SOURCE_ASPD = 7 # Airspeed (EKF2_ARSP_THR)
|
||||
uint8 FUSION_SOURCE_RNGBCN = 8 # Ranging Beacon
|
||||
|
||||
# PX4 vehicle commands (beyond 16 bit MAVLink commands).
|
||||
uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # Start of PX4 internal only vehicle commands (> UINT16_MAX).
|
||||
|
||||
@@ -95,6 +95,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
- [EstimatorBias](EstimatorBias.md)
|
||||
- [EstimatorBias3d](EstimatorBias3d.md)
|
||||
- [EstimatorEventFlags](EstimatorEventFlags.md)
|
||||
- [EstimatorFusionControl](EstimatorFusionControl.md)
|
||||
- [EstimatorGpsStatus](EstimatorGpsStatus.md)
|
||||
- [EstimatorInnovations](EstimatorInnovations.md)
|
||||
- [EstimatorSelectorStatus](EstimatorSelectorStatus.md)
|
||||
|
||||
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Reference in New Issue
Block a user