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29 lines
1.4 KiB
Plaintext
29 lines
1.4 KiB
Plaintext
#
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# Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
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#
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uint64 timestamp # time since system start (microseconds)
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uint32[2] device_ids
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float32[2] inconsistency
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bool[2] healthy
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uint8[2] priority
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# drift metrics
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float32[2] drift_rate_hpos # Horizontal position rate magnitude checked using EKF2_REQ_HDRIFT (m/s)
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float32[2] drift_rate_vpos # Vertical position rate magnitude checked using EKF2_REQ_VDRIFT (m/s)
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float32[2] drift_hspd # Filtered horizontal velocity magnitude checked using EKF2_REQ_HDRIFT (m/s)
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float32[2] error_norm # normalised gps error
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bool[2] fail_fix # true if the fix type is insufficient (no 3D solution)
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bool[2] fail_nsats # true if number of satellites used is insufficient
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bool[2] fail_pdop # true if position dilution of precision is insufficient
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bool[2] fail_hacc # true if reported horizontal accuracy is insufficient
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bool[2] fail_vacc # true if reported vertical accuracy is insufficient
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bool[2] fail_sacc # true if reported speed accuracy is insufficient
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bool[2] fail_hdrift # true if horizontal drift is excessive (can only be used when stationary on ground)
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bool[2] fail_vdrift # true if vertical drift is excessive (can only be used when stationary on ground)
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bool[2] fail_hspeed # true if horizontal speed is excessive (can only be used when stationary on ground)
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bool[2] fail_vspeed # true if vertical speed error is excessive
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