mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-26 16:28:06 +08:00
36 lines
1.6 KiB
Markdown
36 lines
1.6 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# EstimatorStates (UORB message)
|
|
|
|
**TOPICS:** estimator_states
|
|
|
|
## Fields
|
|
|
|
| Name | Type | Unit [Frame] | Range/Enum | Description |
|
|
| ------------------------------------------------- | ------------- | ------------ | ---------- | -------------------------------------------- |
|
|
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
|
|
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
|
|
| <a id="fld_states"></a>states | `float32[25]` | | | Internal filter states |
|
|
| <a id="fld_n_states"></a>n_states | `uint8` | | | Number of states effectively used |
|
|
| <a id="fld_covariances"></a>covariances | `float32[24]` | | | Diagonal Elements of Covariance Matrix |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStates.msg)
|
|
|
|
::: details Click here to see original file
|
|
|
|
```c
|
|
uint64 timestamp # time since system start (microseconds)
|
|
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
|
|
|
float32[25] states # Internal filter states
|
|
uint8 n_states # Number of states effectively used
|
|
|
|
float32[24] covariances # Diagonal Elements of Covariance Matrix
|
|
```
|
|
|
|
:::
|