mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
54a32eb2f7
- move EV yaw and EV position to new state machines - EV yaw and EV pos now configured via EKF2_EV_CTRL (migrated from EKF2_AID_MASK) - new EV position offset estimator to enable EV position while GPS position is active (no more EV pos delta fusion) - yaw_align now strictly means north (no more rotate external vision aid mask) - automatic switching between EV yaw, and yaw align north based on GPS quality
15 lines
724 B
Plaintext
15 lines
724 B
Plaintext
uint64 timestamp # time since system start (microseconds)
|
|
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
|
|
|
uint32 device_id # unique device ID for the sensor that does not change between power cycles
|
|
|
|
float32[3] bias # estimated barometric altitude bias (m)
|
|
float32[3] bias_var # estimated barometric altitude bias variance (m^2)
|
|
|
|
float32[3] innov # innovation of the last measurement fusion (m)
|
|
float32[3] innov_var # innovation variance of the last measurement fusion (m^2)
|
|
float32[3] innov_test_ratio # normalized innovation squared test ratio
|
|
|
|
# TOPICS estimator_bias3d
|
|
# TOPICS estimator_ev_pos_bias
|