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93aa6e3f78
- naming consistency (estimator prefix as "namespace") - only publish if baro is available and bias is changing as a small logging optimization - avoid unnecessary copying (get const reference to status directly) - trivial code style fixes
11 lines
589 B
Plaintext
11 lines
589 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 baro_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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