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estimator_status split out estimator_states

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Daniel Agar
2020-09-04 10:48:26 -04:00
parent 33a7fed240
commit 9ccc1db649
17 changed files with 150 additions and 108 deletions
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msg/estimator_status.msg
-4
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@@ -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