Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-01 02:55:07 +08:00
Code Issues Actions 19 Packages Projects Releases Wiki Activity

estimator_aid_source split GNSS pos (3d) -> pos (2d) + hgt

Browse Source 
- per estimator air source status only keep a single set of flags and
timestamp that applies to the entire source
This commit is contained in:
Daniel Agar
2022-10-12 09:59:23 -04:00
parent 8a9a091ff3
commit 2de990fd4b
26 changed files with 578 additions and 691 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/estimator_aid_source_1d.msg
+3 -2
View File
@@ -19,6 +19,7 @@ bool innovation_rejected # true if the observation has been rejected
bool fused # true if the sample was successfully fused
# TOPICS estimator_aid_source_1d
# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_rng_hgt estimator_aid_src_airspeed
# TOPICS estimator_aid_src_fake_hgt estimator_aid_src_sideslip
# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt
# TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip
# TOPICS estimator_aid_src_fake_hgt
# TOPICS estimator_aid_src_mag_heading estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
msg/estimator_aid_source_2d.msg
+6 -5
View File
@@ -5,7 +5,7 @@ uint8 estimator_instance
uint32 device_id
uint64[2] time_last_fuse
uint64 time_last_fuse
float32[2] observation
float32[2] observation_variance
@@ -14,9 +14,10 @@ float32[2] innovation
float32[2] innovation_variance
float32[2] test_ratio
bool[2] fusion_enabled # true when measurements are being fused
bool[2] innovation_rejected # true if the observation has been rejected
bool[2] fused # true if the sample was successfully fused
bool fusion_enabled # true when measurements are being fused
bool innovation_rejected # true if the observation has been rejected
bool fused # true if the sample was successfully fused
# TOPICS estimator_aid_source_2d
# TOPICS estimator_aid_src_fake_pos
# TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos
# TOPICS estimator_aid_src_aux_vel
msg/estimator_aid_source_3d.msg
+7 -6
View File
@@ -5,7 +5,7 @@ uint8 estimator_instance
uint32 device_id
uint64[3] time_last_fuse
uint64 time_last_fuse
float32[3] observation
float32[3] observation_variance
@@ -14,10 +14,11 @@ float32[3] innovation
float32[3] innovation_variance
float32[3] test_ratio
bool[3] fusion_enabled # true when measurements are being fused
bool[3] innovation_rejected # true if the observation has been rejected
bool[3] fused # true if the sample was successfully fused
bool fusion_enabled # true when measurements are being fused
bool innovation_rejected # true if the observation has been rejected
bool fused # true if the sample was successfully fused
# TOPICS estimator_aid_source_3d
# TOPICS estimator_aid_src_gnss_pos estimator_aid_src_gnss_vel
# TOPICS estimator_aid_src_mag estimator_aid_src_aux_vel
# TOPICS estimator_aid_src_ev_vel
# TOPICS estimator_aid_src_gnss_vel
# TOPICS estimator_aid_src_mag
msg/estimator_bias.msg
+1 -1
View File
@@ -1,7 +1,7 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
uint32 baro_device_id # unique device ID for the sensor that does not change between power cycles
uint32 device_id # unique device ID for the sensor that does not change between power cycles
float32 bias # estimated barometric altitude bias (m)
float32 bias_var # estimated barometric altitude bias variance (m^2)