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85 lines
8.4 KiB
Markdown
85 lines
8.4 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# EstimatorInnovations (UORB message)
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**TOPICS:** estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| ---------------- | ------------ | ------------ | ------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
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| gps_hvel | `float32[2]` | | | horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) |
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| `float32` | | | vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) |
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| gps_hpos | `float32[2]` | | | horizontal GPS position innovation (m) and innovation variance (m\*\*2) |
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| `float32` | | | vertical GPS position innovation (m) and innovation variance (m\*\*2) |
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| ev_hvel | `float32[2]` | | | horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) |
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| `float32` | | | vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) |
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| ev_hpos | `float32[2]` | | | horizontal external vision position innovation (m) and innovation variance (m\*\*2) |
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| `float32` | | | vertical external vision position innovation (m) and innovation variance (m\*\*2) |
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| rng_vpos | `float32` | | | range sensor height innovation (m) and innovation variance (m\*\*2) |
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| baro_vpos | `float32` | | | barometer height innovation (m) and innovation variance (m\*\*2) |
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| aux_hvel | `float32[2]` | | | horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)\*\*2) |
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| flow | `float32[2]` | | | flow innvoation (rad/sec) and innovation variance ((rad/sec)\*\*2) |
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| heading | `float32` | | | heading innovation (rad) and innovation variance (rad\*\*2) |
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| mag_field | `float32[3]` | | | earth magnetic field innovation (Gauss) and innovation variance (Gauss\*\*2) |
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| gravity | `float32[3]` | | | gravity innovation from accelerometerr vector (m/s\*\*2) |
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| drag | `float32[2]` | | | drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2) |
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| airspeed | `float32` | | | airspeed innovation (m/sec) and innovation variance ((m/sec)\*\*2) |
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| beta | `float32` | | | synthetic sideslip innovation (rad) and innovation variance (rad\*\*2) |
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| hagl | `float32` | | | height of ground innovation (m) and innovation variance (m\*\*2) |
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| hagl_rate | `float32` | | | height of ground rate innovation (m/s) and innovation variance ((m/s)\*\*2) |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorInnovations.msg)
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::: details Click here to see original file
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```c
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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# GPS
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float32[2] gps_hvel # horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)
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float32 gps_vvel # vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)
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float32[2] gps_hpos # horizontal GPS position innovation (m) and innovation variance (m**2)
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float32 gps_vpos # vertical GPS position innovation (m) and innovation variance (m**2)
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# External Vision
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float32[2] ev_hvel # horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)
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float32 ev_vvel # vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)
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float32[2] ev_hpos # horizontal external vision position innovation (m) and innovation variance (m**2)
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float32 ev_vpos # vertical external vision position innovation (m) and innovation variance (m**2)
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# Height sensors
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float32 rng_vpos # range sensor height innovation (m) and innovation variance (m**2)
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float32 baro_vpos # barometer height innovation (m) and innovation variance (m**2)
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# Auxiliary velocity
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float32[2] aux_hvel # horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
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# Optical flow
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float32[2] flow # flow innvoation (rad/sec) and innovation variance ((rad/sec)**2)
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# Various
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float32 heading # heading innovation (rad) and innovation variance (rad**2)
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float32[3] mag_field # earth magnetic field innovation (Gauss) and innovation variance (Gauss**2)
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float32[3] gravity # gravity innovation from accelerometerr vector (m/s**2)
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float32[2] drag # drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2)
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float32 airspeed # airspeed innovation (m/sec) and innovation variance ((m/sec)**2)
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float32 beta # synthetic sideslip innovation (rad) and innovation variance (rad**2)
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float32 hagl # height of ground innovation (m) and innovation variance (m**2)
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float32 hagl_rate # height of ground rate innovation (m/s) and innovation variance ((m/s)**2)
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# The innovation test ratios are scalar values. In case the field is a vector,
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# the test ratio will be put in the first component of the vector.
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# TOPICS estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios
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```
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:::
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