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66 lines
6.4 KiB
Markdown
66 lines
6.4 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# EstimatorEventFlags (UORB message)
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**TOPICS:** estimator_event_flags
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| -------------------------- | -------- | ------------ | ---------- | --------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
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| information_event_changes | `uint32` | | | number of information event changes |
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| gps_checks_passed | `bool` | | | 0 - true when gps quality checks are passing passed |
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| reset_vel_to_gps | `bool` | | | 1 - true when the velocity states are reset to the gps measurement |
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| reset_vel_to_flow | `bool` | | | 2 - true when the velocity states are reset using the optical flow measurement |
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| reset_vel_to_vision | `bool` | | | 3 - true when the velocity states are reset to the vision system measurement |
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| reset_vel_to_zero | `bool` | | | 4 - true when the velocity states are reset to zero |
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| reset_pos_to_last_known | `bool` | | | 5 - true when the position states are reset to the last known position |
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| reset_pos_to_gps | `bool` | | | 6 - true when the position states are reset to the gps measurement |
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| reset_pos_to_vision | `bool` | | | 7 - true when the position states are reset to the vision system measurement |
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| starting_gps_fusion | `bool` | | | 8 - true when the filter starts using gps measurements to correct the state estimates |
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| starting_vision_pos_fusion | `bool` | | | 9 - true when the filter starts using vision system position measurements to correct the state estimates |
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| starting_vision_vel_fusion | `bool` | | | 10 - true when the filter starts using vision system velocity measurements to correct the state estimates |
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| starting_vision_yaw_fusion | `bool` | | | 11 - true when the filter starts using vision system yaw measurements to correct the state estimates |
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| yaw_aligned_to_imu_gps | `bool` | | | 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data |
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| reset_hgt_to_baro | `bool` | | | 13 - true when the vertical position state is reset to the baro measurement |
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| reset_hgt_to_gps | `bool` | | | 14 - true when the vertical position state is reset to the gps measurement |
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| reset_hgt_to_rng | `bool` | | | 15 - true when the vertical position state is reset to the rng measurement |
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| reset_hgt_to_ev | `bool` | | | 16 - true when the vertical position state is reset to the ev measurement |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorEventFlags.msg)
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::: details Click here to see original file
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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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:::
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