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206488b844
- add new 'innovation_filtered' and 'test_ratio_filtered' fields to estimator_aid_source topics
25 lines
750 B
Plaintext
25 lines
750 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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float32[3] observation
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float32[3] observation_variance
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float32[3] innovation
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float32[3] innovation_filtered
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float32[3] innovation_variance
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float32[3] test_ratio # normalized innovation squared
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float32[3] 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_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag
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