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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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60d613ea04
- inconsistency checks now run continuously instead of only preflight - keep inconsistencies for all sensors - add per sensor data validator state as overall health flag
18 lines
658 B
Plaintext
18 lines
658 B
Plaintext
#
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# Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
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#
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uint64 timestamp # time since system start (microseconds)
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uint32 accel_device_id_primary # current primary accel device id for reference
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uint32[3] accel_device_ids
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float32[3] accel_inconsistency_m_s_s # magnitude of acceleration difference between IMU instance and primary in (m/s/s).
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bool[3] accel_healthy
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uint32 gyro_device_id_primary # current primary gyro device id for reference
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uint32[3] gyro_device_ids
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float32[3] gyro_inconsistency_rad_s # magnitude of angular rate difference between IMU instance and primary in (rad/s).
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bool[3] gyro_healthy
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