mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
9c73eae941
Reason: the value is easier to read & handle (for example plotting). In most places the value is needed, not the integral. Note that this breaks the replay format for sdlog2 replay
52 lines
2.6 KiB
Plaintext
52 lines
2.6 KiB
Plaintext
uint64 time_ref # ekf2 reference time. This is a timestamp passed to the
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# estimator which it uses a absolute reference.
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float32 gyro_integral_dt # gyro integration period in s
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float32 accelerometer_integral_dt # accelerometer integration period in s
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uint64 magnetometer_timestamp # timestamp of magnetometer measurement in us
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uint64 baro_timestamp # timestamp of barometer measurement in us
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uint64 rng_timestamp # timestamp of range finder measurement in us
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uint64 flow_timestamp # timestamp of optical flow measurement in us
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uint64 asp_timestamp # timestamp of airspeed measurement in us
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uint64 ev_timestamp # timestamp of external vision measurement in us
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float32[3] gyro_rad # gyro vector in rad
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float32[3] accelerometer_m_s2 # accelerometer vector in m/s^2
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float32[3] magnetometer_ga # magnetometer measurement vector (body fixed NED) in ga
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float32 baro_alt_meter # barometer altitude measurement in m
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uint64 time_usec # timestamp of gps position measurement in us
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uint64 time_usec_vel # timestamp of gps velocity measurement in us
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int32 lat # Latitude in 1E-7 degrees
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int32 lon # Longitude in 1E-7 degrees
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int32 alt # Altitude in 1E-3 meters above MSL, (millimetres)
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uint8 fix_type
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uint8 nsats # number of GPS satellites used by the receiver
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float32 eph # GPS horizontal position accuracy (metres)
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float32 epv # GPS vertical position accuracy (metres)
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float32 sacc # GPS speed accuracy (metres/sec)
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float32 vel_m_s # GPS ground speed, (metres/sec)
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float32 vel_n_m_s # GPS North velocity, (metres/sec)
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float32 vel_e_m_s # GPS East velocity, (metres/sec)
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float32 vel_d_m_s # GPS Down velocity, (metres/sec)
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bool vel_ned_valid # True if NED velocity is valid
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# range finder measurements
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float32 range_to_ground # range finder measured range to ground (m)
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# optical flow sensor measurements
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float32[2] flow_pixel_integral # integrated optical flow rate around x and y axes (rad)
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float32[2] flow_gyro_integral # integrated gyro rate around x and y axes (rad)
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uint32 flow_time_integral # integration timespan (usec)
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uint8 flow_quality # Quality of accumulated optical flow data (0 - 255)
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# airspeed
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float32 indicated_airspeed_m_s # indicated airspeed in meters per second, -1 if unknown
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float32 true_airspeed_m_s # true filtered airspeed in meters per second, -1 if unknown
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# external vision measurements
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float32[3] pos_ev # position in earth (NED) frame (metres)
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float32[4] quat_ev # quaternion rotation from earth (NED) to body (XYZ) frame
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float32 pos_err # position error 1-std for each axis (metres)
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float32 ang_err # angular error 1-std for each axis (rad)
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