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79ec263b1e
Makes the message more useful in comparing the types of vibration likely to cause numerical errors and matches the update ecl library interface.
87 lines
6.0 KiB
Plaintext
87 lines
6.0 KiB
Plaintext
float32[32] states # Internal filter states
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float32 n_states # Number of states effectively used
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float32[3] vibe # IMU vibration metrics in the following array locations
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# 0 : Gyro delta angle coning metric = filtered length of (delta_angle x prev_delta_angle)
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# 1 : Gyro high frequency vibe = filtered length of (delta_angle - prev_delta_angle)
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# 2 : Accel high frequency vibe = filtered length of (delta_velocity - prev_delta_velocity)
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uint8 nan_flags # Bitmask to indicate NaN states
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uint8 health_flags # Bitmask to indicate sensor health states (vel, pos, hgt)
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uint8 timeout_flags # Bitmask to indicate timeout flags (vel, pos, hgt)
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float32[28] covariances # Diagonal Elements of Covariance Matrix
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uint16 gps_check_fail_flags # Bitmask to indicate status of GPS checks - see definition below
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# bits are true when corresponding test has failed
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# 0 : minimum required sat count fail
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# 1 : minimum required GDoP fail
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# 2 : maximum allowed horizontal position error fail
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# 3 : maximum allowed vertical position error fail
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# 4 : maximum allowed speed error fail
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# 5 : maximum allowed horizontal position drift fail
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# 6 : maximum allowed vertical position drift fail
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# 7 : maximum allowed horizontal speed fail
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# 8 : maximum allowed vertical velocity discrepancy fail
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uint16 control_mode_flags # Bitmask to indicate EKF logic state
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# 0 - true if the filter tilt alignment is complete
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# 1 - true if the filter yaw alignment is complete
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# 2 - true if GPS measurements are being fused
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# 3 - true if optical flow measurements are being fused
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# 4 - true if a simple magnetic yaw heading is being fused
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# 5 - true if 3-axis magnetometer measurement are being fused
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# 6 - true if synthetic magnetic declination measurements are being fused
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# 7 - true when the vehicle is airborne
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# 8 - true when wind velocity is being estimated
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# 9 - true when baro height is being fused as a primary height reference
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# 10 - true when range finder height is being fused as a primary height reference
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# 11 - true when GPS height is being fused as a primary height reference
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# 12 - true when local position data from external vision is being fused
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# 13 - true when yaw data from external vision measurements is being fused
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# 14 - true when height data from external vision measurements is being fused
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uint16 filter_fault_flags # Bitmask to indicate EKF internal faults
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# 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
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# 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error
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# 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error
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# 3 - true if the fusion of the magnetic heading has encountered a numerical error
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# 4 - true if the fusion of the magnetic declination has encountered a numerical error
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# 5 - true if fusion of the airspeed has encountered a numerical error
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# 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
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# 7 - true if fusion of the optical flow X axis has encountered a numerical error
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# 8 - true if fusion of the optical flow Y axis has encountered a numerical error
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# 9 - true if fusion of the North velocity has encountered a numerical error
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# 10 - true if fusion of the East velocity has encountered a numerical error
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# 11 - true if fusion of the Down velocity has encountered a numerical error
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# 12 - true if fusion of the North position has encountered a numerical error
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# 13 - true if fusion of the East position has encountered a numerical error
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# 14 - true if fusion of the Down position has encountered a numerical error
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float32 pos_horiz_accuracy # 1-Sigma estimated horizontal position accuracy relative to the estimators origin (m)
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float32 pos_vert_accuracy # 1-Sigma estimated vertical position accuracy relative to the estimators origin (m)
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uint16 innovation_check_flags # Bitmask to indicate pass/fail status of innovation consistency checks
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# 0 - true if velocity observations have been rejected
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# 1 - true if horizontal position observations have been rejected
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# 2 - true if true if vertical position observations have been rejected
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# 3 - true if the X magnetometer observation has been rejected
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# 4 - true if the Y magnetometer observation has been rejected
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# 5 - true if the Z magnetometer observation has been rejected
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# 6 - true if the yaw observation has been rejected
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# 7 - true if the airspeed observation has been rejected
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# 8 - true if the height above ground observation has been rejected
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# 9 - true if the X optical flow observation has been rejected
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# 10 - true if the Y optical flow observation has been rejected
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float32 mag_test_ratio # ratio of the largest magnetometer innovation component to the innovation test limit
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float32 vel_test_ratio # ratio of the largest velocity innovation component to the innovation test limit
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float32 pos_test_ratio # ratio of the largest horizontal position innovation component to the innovation test limit
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float32 hgt_test_ratio # ratio of the vertical position innovation to the innovation test limit
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float32 tas_test_ratio # ratio of the true airspeed innovation to the innovation test limit
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float32 hagl_test_ratio # ratio of the height above ground innovation to the innovation test limit
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uint16 solution_status_flags # Bitmask indicating which filter kinematic state outputs are valid for flight control use.
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# 0 - True if the attitude estimate is good
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# 1 - True if the horizontal velocity estimate is good
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# 2 - True if the vertical velocity estimate is good
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# 3 - True if the horizontal position (relative) estimate is good
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# 4 - True if the horizontal position (absolute) estimate is good
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# 5 - True if the vertical position (absolute) estimate is good
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# 6 - True if the vertical position (above ground) estimate is good
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# 7 - True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
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# 8 - True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
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# 9 - True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
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# 10 - True if the EKF has detected a GPS glitch
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