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b19a6ee3b5
The position error state is still defined in a body-fixed NED frame but the position state itself is latitude-longitude-altitude.
27 lines
865 B
Plaintext
27 lines
865 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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uint8 estimator_instance
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uint32 device_id
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uint64 time_last_fuse
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float64[2] observation
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float32[2] observation_variance
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float32[2] innovation
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float32[2] innovation_filtered
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float32[2] innovation_variance
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float32[2] test_ratio # normalized innovation squared
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float32[2] test_ratio_filtered # signed filtered test ratio
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bool innovation_rejected # true if the observation has been rejected
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bool fused # true if the sample was successfully fused
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# TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position
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# TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow
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# TOPICS estimator_aid_src_drag
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