From 2bda15d72baca1b9e865975931c79c1b3d19285f Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 5 Oct 2016 19:49:29 +1100 Subject: [PATCH] msg: Add innovation test data to estimator status --- msg/estimator_status.msg | 22 ++++++++++++++++++++-- 1 file changed, 20 insertions(+), 2 deletions(-) diff --git a/msg/estimator_status.msg b/msg/estimator_status.msg index 85c0d76e71..bdfbfd3cc8 100644 --- a/msg/estimator_status.msg +++ b/msg/estimator_status.msg @@ -45,5 +45,23 @@ uint16 filter_fault_flags # Bitmask to indicate EKF internal faults # 12 - true if fusion of the North position has encountered a numerical error # 13 - true if fusion of the East position has encountered a numerical error # 14 - true if fusion of the Down position has encountered a numerical error -float32 pos_horiz_accuracy -float32 pos_vert_accuracy \ No newline at end of file +float32 pos_horiz_accuracy # 1-Sigma estimated horizontal position accuracy relative to the estimators origin (m) +float32 pos_vert_accuracy # 1-Sigma estimated vertical position accuracy relative to the estimators origin (m) +uint16 innovation_check_flags # Bitmask to indicate pass/fail status of innovation consistency checks +# 0 - true if velocity observations have been rejected +# 1 - true if horizontal position observations have been rejected +# 2 - true if true if vertical position observations have been rejected +# 3 - true if the X magnetometer observation has been rejected +# 4 - true if the Y magnetometer observation has been rejected +# 5 - true if the Z magnetometer observation has been rejected +# 6 - true if the yaw observation has been rejected +# 7 - true if the airspeed observation has been rejected +# 8 - true if the height above ground observation has been rejected +# 9 - true if the X optical flow observation has been rejected +# 10 - true if the Y optical flow observation has been rejected +float32 mag_test_ratio # ratio of the largest magnetometer innovation component to the innovation test limit +float32 vel_test_ratio # ratio of the largest velocity innovation component to the innovation test limit +float32 pos_test_ratio # ratio of the largest horizontal position innovation component to the innovation test limit +float32 hgt_test_ratio # ratio of the vertical position innovation to the innovation test limit +float32 tas_test_ratio # ratio of the true airspeed innovation to the innovation test limit +float32 hagl_test_ratio # ratio of the height above ground innovation to the innovation test limit