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38 lines
1.4 KiB
Markdown
38 lines
1.4 KiB
Markdown
# Ekf2Timestamps (UORB message)
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this message contains the (relative) timestamps of the sensor inputs used by EKF2.
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It can be used for reproducible replay.
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the timestamp field is the ekf2 reference time and matches the timestamp of
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the sensor_combined topic.
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Ekf2Timestamps.msg)
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```c
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# this message contains the (relative) timestamps of the sensor inputs used by EKF2.
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# It can be used for reproducible replay.
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# the timestamp field is the ekf2 reference time and matches the timestamp of
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# the sensor_combined topic.
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uint64 timestamp # time since system start (microseconds)
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int16 RELATIVE_TIMESTAMP_INVALID = 32767 # (0x7fff) If one of the relative timestamps
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# is set to this value, it means the associated sensor values did not update
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# timestamps are relative to the main timestamp and are in 0.1 ms (timestamp +
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# *_timestamp_rel = absolute timestamp). For int16, this allows a maximum
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# difference of +-3.2s to the sensor_combined topic.
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int16 airspeed_timestamp_rel
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int16 airspeed_validated_timestamp_rel
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int16 distance_sensor_timestamp_rel
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int16 optical_flow_timestamp_rel
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int16 vehicle_air_data_timestamp_rel
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int16 vehicle_magnetometer_timestamp_rel
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int16 visual_odometry_timestamp_rel
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# Note: this is a high-rate logged topic, so it needs to be as small as possible
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```
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