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8ab65c84ce
- new EV position offset estimator - yaw_align now strictly means north (no more rotate external vision aid mask) - automatically switching between EV yaw, and yaw align north based on GPS quality
13 lines
661 B
Plaintext
13 lines
661 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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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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float32 bias # estimated barometric altitude bias (m)
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float32 bias_var # estimated barometric altitude bias variance (m^2)
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float32 innov # innovation of the last measurement fusion (m)
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float32 innov_var # innovation variance of the last measurement fusion (m^2)
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float32 innov_test_ratio # normalized innovation squared test ratio
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# TOPICS estimator_baro_bias estimator_gnss_hgt_bias estimator_rng_hgt_bias
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