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f3e2a197ad
- move vehicle at reset detection ekf2 -> land_detector - ekf_unit: reduce init period - Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the variances are still large enough. - ekf_unit: reduce minimum vel/pos variance required after init - Fake pos fusion has a low observation noise, making the vel/pos variances reduce quickly. Co-authored-by:: bresch <brescianimathieu@gmail.com>
19 lines
747 B
Plaintext
19 lines
747 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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bool freefall # true if vehicle is currently in free-fall
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bool ground_contact # true if vehicle has ground contact but is not landed (1. stage)
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bool maybe_landed # true if the vehicle might have landed (2. stage)
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bool landed # true if vehicle is currently landed on the ground (3. stage)
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bool in_ground_effect # indicates if from the perspective of the landing detector the vehicle might be in ground effect (baro). This flag will become true if the vehicle is not moving horizontally and is descending (crude assumption that user is landing).
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bool in_descend
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bool has_low_throttle
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bool vertical_movement
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bool horizontal_movement
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bool close_to_ground_or_skipped_check
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bool at_rest
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