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# VteAidSource1d (UORB message)

Vision Target Estimator 1D fusion aid-source diagnostics (e.g. yaw).

Published by: vision_target_estimator (VTEOrientation) on every fusion attempt, including rejected ones.
Subscribed by: logger only. Inspect observation, innovation, test_ratio, and fusion_status to debug why a measurement was or was not fused.

**TOPICS:** vte_aid_ev_yaw

## Fields

| 명칭                                                                                                                   | 형식        | Unit [Frame] | Range/Enum                                                                        | 설명                                                                           |
| -------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | --------------------------------------------------------------------------------- | ---------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp                                                                                  | `uint64`  | us                                                               |                                                                                   | Time since system start                                                      |
| <a id="fld_timestamp_sample"></a>timestamp_sample                                               | `uint64`  | us                                                               |                                                                                   | Timestamp of the raw observation                                             |
| <a id="fld_time_last_predict"></a>time_last_predict                        | `uint64`  | us                                                               |                                                                                   | Timestamp of last filter prediction                                          |
| <a id="fld_observation"></a>observation                                                                              | `float32` |                                                                  |                                                                                   | Observation attempted to be fused                                            |
| <a id="fld_observation_variance"></a>observation_variance                                       | `float32` |                                                                  |                                                                                   | Variance of observation attempted to be fused                                |
| <a id="fld_innovation"></a>innovation                                                                                | `float32` |                                                                  |                                                                                   | Kalman Filter innovation (y = z - Hx)                     |
| <a id="fld_innovation_variance"></a>innovation_variance                                         | `float32` |                                                                  |                                                                                   | Kalman Filter variance of the innovation                                     |
| <a id="fld_test_ratio"></a>test_ratio                                                           | `float32` |                                                                  |                                                                                   | Normalized innovation squared (NIS)                       |
| <a id="fld_fusion_status"></a>fusion_status                                                     | `uint8`   |                                                                  | [VTE_FUSION_STATUS](#VTE_FUSION_STATUS) | Fusion status code                                                           |
| <a id="fld_time_since_meas_ms"></a>time_since_meas_ms | `float32` | ms                                                               |                                                                                   | (now - timestamp_sample)             |
| <a id="fld_history_steps"></a>history_steps                                                     | `uint8`   |                                                                  |                                                                                   | Number of steps replayed in OOSM (0 if current or failed) |

## Enums

### VTE_FUSION_STATUS {#VTE_FUSION_STATUS}

Used in field(s): [fusion_status](#fld_fusion_status)

| 명칭 | 형식 | Value | 설명 |
| -- | -- | ----- | -- |

## Constants

| 명칭                                                                                                                       | 형식      | Value | 설명                                                                                                     |
| ------------------------------------------------------------------------------------------------------------------------ | ------- | ----- | ------------------------------------------------------------------------------------------------------ |
| <a id="#STATUS_IDLE"></a> STATUS_IDLE                                                               | `uint8` | 0     | No fusion attempted yet                                                                                |
| <a id="#STATUS_FUSED_CURRENT"></a> STATUS_FUSED_CURRENT                        | `uint8` | 1     | Fused immediately (low latency)                                                     |
| <a id="#STATUS_FUSED_OOSM"></a> STATUS_FUSED_OOSM                              | `uint8` | 2     | Fused via history buffer                                                                               |
| <a id="#STATUS_REJECT_NIS"></a> STATUS_REJECT_NIS                              | `uint8` | 3     | Rejected by Normalized Innovation Squared check                                                        |
| <a id="#STATUS_REJECT_COV"></a> STATUS_REJECT_COV                              | `uint8` | 4     | Rejected due to invalid/infinite covariance or numerical error                                         |
| <a id="#STATUS_REJECT_TOO_OLD"></a> STATUS_REJECT_TOO_OLD | `uint8` | 5     | Rejected: older than buffer limit (kOosmMaxTimeUs) or oldest sample |
| <a id="#STATUS_REJECT_TOO_NEW"></a> STATUS_REJECT_TOO_NEW | `uint8` | 6     | Rejected: timestamp in the future (beyond tolerance)                |
| <a id="#STATUS_REJECT_STALE"></a> STATUS_REJECT_STALE                          | `uint8` | 7     | Rejected: history was reset due to staleness/discontinuity                             |
| <a id="#STATUS_REJECT_EMPTY"></a> STATUS_REJECT_EMPTY                          | `uint8` | 8     | Rejected: history buffer not yet populated                                             |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VteAidSource1d.msg)

:::details
Click here to see original file

```c
# Vision Target Estimator 1D fusion aid-source diagnostics (e.g. yaw).
#
# Published by: vision_target_estimator (VTEOrientation) on every fusion attempt, including rejected ones.
# Subscribed by: logger only. Inspect observation, innovation, test_ratio, and fusion_status to debug why a measurement was or was not fused.

uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Timestamp of the raw observation
uint64 time_last_predict # [us] Timestamp of last filter prediction

# Observation & Innovation
float32 observation # [-] Observation attempted to be fused
float32 observation_variance # [-] Variance of observation attempted to be fused

float32 innovation # [-] Kalman Filter innovation (y = z - Hx)
float32 innovation_variance # [-] Kalman Filter variance of the innovation

float32 test_ratio # [-] Normalized innovation squared (NIS)

uint8 fusion_status # [@enum VTE_FUSION_STATUS] Fusion status code
uint8 STATUS_IDLE = 0 # No fusion attempted yet
uint8 STATUS_FUSED_CURRENT = 1 # Fused immediately (low latency)
uint8 STATUS_FUSED_OOSM = 2 # Fused via history buffer
uint8 STATUS_REJECT_NIS = 3 # Rejected by Normalized Innovation Squared check
uint8 STATUS_REJECT_COV = 4 # Rejected due to invalid/infinite covariance or numerical error
uint8 STATUS_REJECT_TOO_OLD = 5 # Rejected: older than buffer limit (kOosmMaxTimeUs) or oldest sample
uint8 STATUS_REJECT_TOO_NEW = 6 # Rejected: timestamp in the future (beyond tolerance)
uint8 STATUS_REJECT_STALE = 7 # Rejected: history was reset due to staleness/discontinuity
uint8 STATUS_REJECT_EMPTY = 8 # Rejected: history buffer not yet populated

# OOSM Diagnostics
float32 time_since_meas_ms # [ms] (now - timestamp_sample)
uint8 history_steps # [-] Number of steps replayed in OOSM (0 if current or failed)

# TOPICS vte_aid_ev_yaw
```

:::