mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
62 lines
2.1 KiB
Markdown
62 lines
2.1 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# EstimatorSelectorStatus (UORB message)
|
|
|
|
**TOPICS:** estimator_selector_status
|
|
|
|
## Fields
|
|
|
|
| Name | Type | Unit [Frame] | Range/Enum | Description |
|
|
| ----------------------- | ------------ | ------------ | ---------- | -------------------------------------- |
|
|
| timestamp | `uint64` | | | time since system start (microseconds) |
|
|
| primary_instance | `uint8` | | |
|
|
| instances_available | `uint8` | | |
|
|
| instance_changed_count | `uint32` | | |
|
|
| last_instance_change | `uint64` | | |
|
|
| accel_device_id | `uint32` | | |
|
|
| baro_device_id | `uint32` | | |
|
|
| gyro_device_id | `uint32` | | |
|
|
| mag_device_id | `uint32` | | |
|
|
| combined_test_ratio | `float32[9]` | | |
|
|
| relative_test_ratio | `float32[9]` | | |
|
|
| healthy | `bool[9]` | | |
|
|
| accumulated_gyro_error | `float32[4]` | | |
|
|
| accumulated_accel_error | `float32[4]` | | |
|
|
| gyro_fault_detected | `bool` | | |
|
|
| accel_fault_detected | `bool` | | |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSelectorStatus.msg)
|
|
|
|
::: details Click here to see original file
|
|
|
|
```c
|
|
uint64 timestamp # time since system start (microseconds)
|
|
|
|
uint8 primary_instance
|
|
|
|
uint8 instances_available
|
|
|
|
uint32 instance_changed_count
|
|
uint64 last_instance_change
|
|
|
|
uint32 accel_device_id
|
|
uint32 baro_device_id
|
|
uint32 gyro_device_id
|
|
uint32 mag_device_id
|
|
|
|
float32[9] combined_test_ratio
|
|
float32[9] relative_test_ratio
|
|
bool[9] healthy
|
|
|
|
float32[4] accumulated_gyro_error
|
|
float32[4] accumulated_accel_error
|
|
bool gyro_fault_detected
|
|
bool accel_fault_detected
|
|
```
|
|
|
|
:::
|