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0f411d6820
- ekf2 can now run in multi-instance mode (currently up to 9 instances)
- in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
- new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
- sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
- existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
- ekf2 single instance mode is still fully supported and the default
Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
13 lines
545 B
Plaintext
13 lines
545 B
Plaintext
# This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use
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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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float32[4] q # Quaternion rotation from XYZ body frame to NED earth frame.
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float32[4] delta_q_reset # Amount by which quaternion has changed during last reset
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uint8 quat_reset_counter # Quaternion reset counter
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# TOPICS vehicle_attitude vehicle_attitude_groundtruth vehicle_vision_attitude
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# TOPICS estimator_attitude
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