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20c2fe6d28
- timestamp is uORB publication metadata - this allows us to see what the system saw at publication time plus the latency in estimation
11 lines
566 B
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11 lines
566 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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float32 yaw_composite # composite yaw from GSF (rad)
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float32 yaw_variance # composite yaw variance from GSF (rad^2)
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float32[5] yaw # yaw estimate for each model in the filter bank (rad)
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float32[5] innov_vn # North velocity innovation for each model in the filter bank (m/s)
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float32[5] innov_ve # East velocity innovation for each model in the filter bank (m/s)
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float32[5] weight # weighting for each model in the filter bank
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