estimator_status split out estimator_states

msg/CMakeLists.txt

@@ -62,6 +62,7 @@ set(msg_files
 	esc_status.msg
 	estimator_innovations.msg
 	estimator_sensor_bias.msg
+	estimator_states.msg
 	estimator_status.msg
 	follow_target.msg
 	geofence_result.msg

msg/estimator_states.msg

@@ -0,0 +1,6 @@
+uint64 timestamp		# time since system start (microseconds)
+
+float32[24] states		# Internal filter states
+uint8 n_states		# Number of states effectively used
+
+float32[24] covariances	# Diagonal Elements of Covariance Matrix

msg/estimator_status.msg

@@ -1,14 +1,10 @@
 uint64 timestamp		# time since system start (microseconds)
-float32[24] states		# Internal filter states
-uint8 n_states		# Number of states effectively used
 
 float32[3] vibe			# IMU vibration metrics in the following array locations
 # 0 : Gyro delta angle coning metric = filtered length of (delta_angle x prev_delta_angle)
 # 1 : Gyro high frequency vibe = filtered length of (delta_angle - prev_delta_angle)
 # 2 : Accel high frequency vibe = filtered length of (delta_velocity - prev_delta_velocity)
 
-float32[24] covariances	# Diagonal Elements of Covariance Matrix
-
 float32[3] output_tracking_error # return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m)
 
 uint16 gps_check_fail_flags     # Bitmask to indicate status of GPS checks - see definition below

msg/tools/uorb_rtps_message_ids.yaml

@@ -281,6 +281,8 @@ rtps:
     id: 133
   - msg: sensor_preflight_mag
     id: 134
+  - msg: estimator_states
+    id: 135
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 150