mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
65 lines
4.5 KiB
Markdown
65 lines
4.5 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# EstimatorAidSource2d (повідомлення UORB)
|
|
|
|
**TOPICS:** estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position estimator_aid_src_aux_vel estimator_aid_src_optical_flow estimator_aid_src_drag
|
|
|
|
## Fields
|
|
|
|
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
|
|
| ------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- |
|
|
| timestamp | `uint64` | | | time since system start (microseconds) |
|
|
| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
|
|
| estimator_instance | `uint8` | | | |
|
|
| device_id | `uint32` | | | |
|
|
| time_last_fuse | `uint64` | | | |
|
|
| observation | `float64[2]` | | | |
|
|
| observation_variance | `float32[2]` | | | |
|
|
| innovation | `float32[2]` | | | |
|
|
| innovation_filtered | `float32[2]` | | | |
|
|
| innovation_variance | `float32[2]` | | | |
|
|
| test_ratio | `float32[2]` | | | normalized innovation squared |
|
|
| test_ratio_filtered | `float32[2]` | | | signed filtered test ratio |
|
|
| innovation_rejected | `bool` | | | true if the observation has been rejected |
|
|
| fused | `bool` | | | true if the sample was successfully fused |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource2d.msg)
|
|
|
|
:::details
|
|
Click here to see original file
|
|
|
|
```c
|
|
uint64 timestamp # time since system start (microseconds)
|
|
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
|
|
|
uint8 estimator_instance
|
|
|
|
uint32 device_id
|
|
|
|
uint64 time_last_fuse
|
|
|
|
float64[2] observation
|
|
float32[2] observation_variance
|
|
|
|
float32[2] innovation
|
|
float32[2] innovation_filtered
|
|
|
|
float32[2] innovation_variance
|
|
|
|
float32[2] test_ratio # normalized innovation squared
|
|
float32[2] test_ratio_filtered # signed filtered test ratio
|
|
|
|
bool innovation_rejected # true if the observation has been rejected
|
|
bool fused # true if the sample was successfully fused
|
|
|
|
# TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position
|
|
# TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow
|
|
# TOPICS estimator_aid_src_drag
|
|
```
|
|
|
|
:::
|