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0f411d6820
- ekf2 can now run in multi-instance mode (currently up to 9 instances)
- in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
- new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
- sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
- existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
- ekf2 single instance mode is still fully supported and the default
Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
23 lines
458 B
Plaintext
23 lines
458 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint8 primary_instance
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uint8 instances_available
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uint32 instance_changed_count
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uint64 last_instance_change
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uint32 accel_device_id
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uint32 baro_device_id
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uint32 gyro_device_id
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uint32 mag_device_id
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float32[9] combined_test_ratio
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float32[9] relative_test_ratio
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bool[9] healthy
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float32[4] accumulated_gyro_error
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float32[4] accumulated_accel_error
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bool gyro_fault_detected
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bool accel_fault_detected
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