mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-24 15:27:41 +08:00
46 lines
2.8 KiB
Markdown
46 lines
2.8 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# HoverThrustEstimate (UORB message)
|
|
|
|
**TOPICS:** hover_thrust_estimate
|
|
|
|
## 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` | | | time of corresponding sensor data last used for this estimate |
|
|
| <a id="fld_hover_thrust"></a>hover_thrust | `float32` | | | estimated hover thrust [0.1, 0.9] |
|
|
| <a id="fld_hover_thrust_var"></a>hover_thrust_var | `float32` | | | estimated hover thrust variance |
|
|
| <a id="fld_accel_innov"></a>accel_innov | `float32` | | | innovation of the last acceleration fusion |
|
|
| <a id="fld_accel_innov_var"></a>accel_innov_var | `float32` | | | innovation variance of the last acceleration fusion |
|
|
| <a id="fld_accel_innov_test_ratio"></a>accel_innov_test_ratio | `float32` | | | normalized innovation squared test ratio |
|
|
| <a id="fld_accel_noise_var"></a>accel_noise_var | `float32` | | | vertical acceleration noise variance estimated form innovation residual |
|
|
| <a id="fld_valid"></a>valid | `bool` | | |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HoverThrustEstimate.msg)
|
|
|
|
::: details Click here to see original file
|
|
|
|
```c
|
|
uint64 timestamp # time since system start (microseconds)
|
|
uint64 timestamp_sample # time of corresponding sensor data last used for this estimate
|
|
|
|
float32 hover_thrust # estimated hover thrust [0.1, 0.9]
|
|
float32 hover_thrust_var # estimated hover thrust variance
|
|
|
|
float32 accel_innov # innovation of the last acceleration fusion
|
|
float32 accel_innov_var # innovation variance of the last acceleration fusion
|
|
float32 accel_innov_test_ratio # normalized innovation squared test ratio
|
|
|
|
float32 accel_noise_var # vertical acceleration noise variance estimated form innovation residual
|
|
|
|
bool valid
|
|
```
|
|
|
|
:::
|