mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-03-25 11:13:19 +08:00
2aaa54037c
They can be selected independently in the control parameter, so there is no reason why they should share the same flag.
125 lines
8.8 KiB
Plaintext
125 lines
8.8 KiB
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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float32[3] output_tracking_error # return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m)
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uint16 gps_check_fail_flags # Bitmask to indicate status of GPS checks - see definition below
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# bits are true when corresponding test has failed
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uint8 GPS_CHECK_FAIL_GPS_FIX = 0 # 0 : insufficient fix type (no 3D solution)
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uint8 GPS_CHECK_FAIL_MIN_SAT_COUNT = 1 # 1 : minimum required sat count fail
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uint8 GPS_CHECK_FAIL_MAX_PDOP = 2 # 2 : maximum allowed PDOP fail
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uint8 GPS_CHECK_FAIL_MAX_HORZ_ERR = 3 # 3 : maximum allowed horizontal position error fail
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uint8 GPS_CHECK_FAIL_MAX_VERT_ERR = 4 # 4 : maximum allowed vertical position error fail
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uint8 GPS_CHECK_FAIL_MAX_SPD_ERR = 5 # 5 : maximum allowed speed error fail
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uint8 GPS_CHECK_FAIL_MAX_HORZ_DRIFT = 6 # 6 : maximum allowed horizontal position drift fail - requires stationary vehicle
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uint8 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 7 # 7 : maximum allowed vertical position drift fail - requires stationary vehicle
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uint8 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 8 # 8 : maximum allowed horizontal speed fail - requires stationary vehicle
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uint8 GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 9 # 9 : maximum allowed vertical velocity discrepancy fail
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uint8 GPS_CHECK_FAIL_SPOOFED = 10 # 10 : GPS signal is spoofed
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uint64 control_mode_flags # Bitmask to indicate EKF logic state
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uint8 CS_TILT_ALIGN = 0 # 0 - true if the filter tilt alignment is complete
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uint8 CS_YAW_ALIGN = 1 # 1 - true if the filter yaw alignment is complete
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uint8 CS_GNSS_POS = 2 # 2 - true if GNSS position measurements are being fused
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uint8 CS_OPT_FLOW = 3 # 3 - true if optical flow measurements are being fused
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uint8 CS_MAG_HDG = 4 # 4 - true if a simple magnetic yaw heading is being fused
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uint8 CS_MAG_3D = 5 # 5 - true if 3-axis magnetometer measurement are being fused
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uint8 CS_MAG_DEC = 6 # 6 - true if synthetic magnetic declination measurements are being fused
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uint8 CS_IN_AIR = 7 # 7 - true when thought to be airborne
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uint8 CS_WIND = 8 # 8 - true when wind velocity is being estimated
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uint8 CS_BARO_HGT = 9 # 9 - true when baro data is being fused
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uint8 CS_RNG_HGT = 10 # 10 - true when range finder data is being fused for height aiding
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uint8 CS_GPS_HGT = 11 # 11 - true when GPS altitude is being fused
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uint8 CS_EV_POS = 12 # 12 - true when local position data from external vision is being fused
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uint8 CS_EV_YAW = 13 # 13 - true when yaw data from external vision measurements is being fused
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uint8 CS_EV_HGT = 14 # 14 - true when height data from external vision measurements is being fused
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uint8 CS_BETA = 15 # 15 - true when synthetic sideslip measurements are being fused
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uint8 CS_MAG_FIELD = 16 # 16 - true when only the magnetic field states are updated by the magnetometer
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uint8 CS_FIXED_WING = 17 # 17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip
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uint8 CS_MAG_FAULT = 18 # 18 - true when the magnetometer has been declared faulty and is no longer being used
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uint8 CS_ASPD = 19 # 19 - true when airspeed measurements are being fused
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uint8 CS_GND_EFFECT = 20 # 20 - true when when protection from ground effect induced static pressure rise is active
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uint8 CS_RNG_STUCK = 21 # 21 - true when a stuck range finder sensor has been detected
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uint8 CS_GPS_YAW = 22 # 22 - true when yaw (not ground course) data from a GPS receiver is being fused
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uint8 CS_MAG_ALIGNED = 23 # 23 - true when the in-flight mag field alignment has been completed
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uint8 CS_EV_VEL = 24 # 24 - true when local frame velocity data fusion from external vision measurements is intended
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uint8 CS_SYNTHETIC_MAG_Z = 25 # 25 - true when we are using a synthesized measurement for the magnetometer Z component
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uint8 CS_VEHICLE_AT_REST = 26 # 26 - true when the vehicle is at rest
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uint8 CS_GPS_YAW_FAULT = 27 # 27 - true when the GNSS heading has been declared faulty and is no longer being used
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uint8 CS_RNG_FAULT = 28 # 28 - true when the range finder has been declared faulty and is no longer being used
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uint8 CS_GNSS_VEL = 44 # 44 - true if GNSS velocity measurements are being fused
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uint32 filter_fault_flags # Bitmask to indicate EKF internal faults
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# 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
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# 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error
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# 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error
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# 3 - true if the fusion of the magnetic heading has encountered a numerical error
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# 4 - true if the fusion of the magnetic declination has encountered a numerical error
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# 5 - true if fusion of the airspeed has encountered a numerical error
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# 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
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# 7 - true if fusion of the optical flow X axis has encountered a numerical error
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# 8 - true if fusion of the optical flow Y axis has encountered a numerical error
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# 9 - true if fusion of the North velocity has encountered a numerical error
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# 10 - true if fusion of the East velocity has encountered a numerical error
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# 11 - true if fusion of the Down velocity has encountered a numerical error
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# 12 - true if fusion of the North position has encountered a numerical error
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# 13 - true if fusion of the East position has encountered a numerical error
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# 14 - true if fusion of the Down position has encountered a numerical error
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# 15 - true if bad delta velocity bias estimates have been detected
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# 16 - true if bad vertical accelerometer data has been detected
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# 17 - true if delta velocity data contains clipping (asymmetric railing)
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float32 pos_horiz_accuracy # 1-Sigma estimated horizontal position accuracy relative to the estimators origin (m)
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float32 pos_vert_accuracy # 1-Sigma estimated vertical position accuracy relative to the estimators origin (m)
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float32 hdg_test_ratio # low-pass filtered ratio of the largest heading innovation component to the innovation test limit
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float32 vel_test_ratio # low-pass filtered ratio of the largest velocity innovation component to the innovation test limit
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float32 pos_test_ratio # low-pass filtered ratio of the largest horizontal position innovation component to the innovation test limit
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float32 hgt_test_ratio # low-pass filtered ratio of the vertical position innovation to the innovation test limit
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float32 tas_test_ratio # low-pass filtered ratio of the true airspeed innovation to the innovation test limit
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float32 hagl_test_ratio # low-pass filtered ratio of the height above ground innovation to the innovation test limit
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float32 beta_test_ratio # low-pass filtered ratio of the synthetic sideslip innovation to the innovation test limit
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uint16 solution_status_flags # Bitmask indicating which filter kinematic state outputs are valid for flight control use.
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# 0 - True if the attitude estimate is good
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# 1 - True if the horizontal velocity estimate is good
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# 2 - True if the vertical velocity estimate is good
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# 3 - True if the horizontal position (relative) estimate is good
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# 4 - True if the horizontal position (absolute) estimate is good
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# 5 - True if the vertical position (absolute) estimate is good
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# 6 - True if the vertical position (above ground) estimate is good
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# 7 - True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
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# 8 - True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
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# 9 - True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
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# 10 - True if the EKF has detected a GPS glitch
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# 11 - True if the EKF has detected bad accelerometer data
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uint8 reset_count_vel_ne # number of horizontal position reset events (allow to wrap if count exceeds 255)
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uint8 reset_count_vel_d # number of vertical velocity reset events (allow to wrap if count exceeds 255)
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uint8 reset_count_pos_ne # number of horizontal position reset events (allow to wrap if count exceeds 255)
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uint8 reset_count_pod_d # number of vertical position reset events (allow to wrap if count exceeds 255)
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uint8 reset_count_quat # number of quaternion reset events (allow to wrap if count exceeds 255)
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float32 time_slip # cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time
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bool pre_flt_fail_innov_heading
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bool pre_flt_fail_innov_height
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bool pre_flt_fail_innov_pos_horiz
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bool pre_flt_fail_innov_vel_horiz
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bool pre_flt_fail_innov_vel_vert
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bool pre_flt_fail_mag_field_disturbed
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uint32 accel_device_id
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uint32 gyro_device_id
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uint32 baro_device_id
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uint32 mag_device_id
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# legacy local position estimator (LPE) flags
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uint8 health_flags # Bitmask to indicate sensor health states (vel, pos, hgt)
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uint8 timeout_flags # Bitmask to indicate timeout flags (vel, pos, hgt)
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float32 mag_inclination_deg
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float32 mag_inclination_ref_deg
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float32 mag_strength_gs
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float32 mag_strength_ref_gs
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