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32 lines
2.4 KiB
Markdown
32 lines
2.4 KiB
Markdown
# EstimatorEventFlags (UORB message)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorEventFlags.msg)
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```c
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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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# information events
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uint32 information_event_changes # number of information event changes
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bool gps_checks_passed # 0 - true when gps quality checks are passing passed
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bool reset_vel_to_gps # 1 - true when the velocity states are reset to the gps measurement
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bool reset_vel_to_flow # 2 - true when the velocity states are reset using the optical flow measurement
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bool reset_vel_to_vision # 3 - true when the velocity states are reset to the vision system measurement
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bool reset_vel_to_zero # 4 - true when the velocity states are reset to zero
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bool reset_pos_to_last_known # 5 - true when the position states are reset to the last known position
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bool reset_pos_to_gps # 6 - true when the position states are reset to the gps measurement
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bool reset_pos_to_vision # 7 - true when the position states are reset to the vision system measurement
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bool starting_gps_fusion # 8 - true when the filter starts using gps measurements to correct the state estimates
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bool starting_vision_pos_fusion # 9 - true when the filter starts using vision system position measurements to correct the state estimates
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bool starting_vision_vel_fusion # 10 - true when the filter starts using vision system velocity measurements to correct the state estimates
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bool starting_vision_yaw_fusion # 11 - true when the filter starts using vision system yaw measurements to correct the state estimates
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bool yaw_aligned_to_imu_gps # 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
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bool reset_hgt_to_baro # 13 - true when the vertical position state is reset to the baro measurement
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bool reset_hgt_to_gps # 14 - true when the vertical position state is reset to the gps measurement
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bool reset_hgt_to_rng # 15 - true when the vertical position state is reset to the rng measurement
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bool reset_hgt_to_ev # 16 - true when the vertical position state is reset to the ev measurement
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```
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