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2fd87c47e8
split the fusion process into: 1. updateAirspeed: computes innov, innov_var, obs_var, ... 2. fuseAirspeed: uses data computed in 1. to generate K, H and fuse the observation
23 lines
670 B
Plaintext
23 lines
670 B
Plaintext
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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uint8 estimator_instance
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uint32 device_id
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uint64 time_last_fuse
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float32 observation
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float32 observation_variance
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float32 innovation
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float32 innovation_variance
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float32 test_ratio
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bool fusion_enabled # true when measurements are being fused
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bool innovation_rejected # true if the observation has been rejected
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bool fused # true if the sample was successfully fused
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# TOPICS estimator_aid_source_1d
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# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_rng_hgt estimator_aid_src_airspeed
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