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98 lines
7.0 KiB
Markdown
98 lines
7.0 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# VteAidSource3d (UORB message)
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Vision Target Estimator 3D fusion aid-source diagnostics, one fusion_status per NED axis.
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Published by: vision_target_estimator (VTEPosition) on every fusion attempt, including rejected ones.
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Subscribed by: logger only. Inspect observation, innovation, test_ratio, and per-axis fusion_status to debug why a measurement was or was not fused.
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**TOPICS:** vte_aid_gps_pos_target vte_aid_gps_pos_mission vte_aid_gps_vel_target vte_aid_gps_vel_uav vte_aid_fiducial_marker
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| --------------------------------------------------------- | ------------ | ------------ | --------------------------------------- | --------------------------------------------------------- |
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| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
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| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | us | | Timestamp of the raw observation |
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| <a id="fld_time_last_predict"></a>time_last_predict | `uint64` | us | | Timestamp of last filter prediction |
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| <a id="fld_observation"></a>observation | `float32[3]` | [NED] | | Sensor observation attempted to be fused |
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| <a id="fld_observation_variance"></a>observation_variance | `float32[3]` | [NED] | | Variance of the observation attempted to be fused |
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| <a id="fld_innovation"></a>innovation | `float32[3]` | [NED] | | Kalman Filter innovation (y = z - Hx) |
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| <a id="fld_innovation_variance"></a>innovation_variance | `float32[3]` | [NED] | | Kalman Filter variance of the innovation |
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| <a id="fld_test_ratio"></a>test_ratio | `float32[3]` | | | Normalized innovation squared (NIS) |
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| <a id="fld_fusion_status"></a>fusion_status | `uint8[3]` | | [VTE_FUSION_STATUS](#VTE_FUSION_STATUS) | Fusion status code per axis |
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| <a id="fld_time_since_meas_ms"></a>time_since_meas_ms | `float32` | ms | | (now - timestamp_sample) |
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| <a id="fld_history_steps"></a>history_steps | `uint8` | | | Number of steps replayed in OOSM (0 if current or failed) |
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## Enums
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### VTE_FUSION_STATUS {#VTE_FUSION_STATUS}
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Used in field(s): [fusion_status](#fld_fusion_status)
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| Name | Type | Value | Description |
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| ---- | ---- | ----- | ----------- |
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## Constants
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| Name | Type | Value | Description |
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| --------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------- |
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| <a id="#STATUS_IDLE"></a> STATUS_IDLE | `uint8` | 0 | No fusion attempted yet |
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| <a id="#STATUS_FUSED_CURRENT"></a> STATUS_FUSED_CURRENT | `uint8` | 1 | Fused immediately (low latency) |
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| <a id="#STATUS_FUSED_OOSM"></a> STATUS_FUSED_OOSM | `uint8` | 2 | Fused via history buffer |
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| <a id="#STATUS_REJECT_NIS"></a> STATUS_REJECT_NIS | `uint8` | 3 | Rejected by Normalized Innovation Squared check |
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| <a id="#STATUS_REJECT_COV"></a> STATUS_REJECT_COV | `uint8` | 4 | Rejected due to invalid/infinite covariance or numerical error |
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| <a id="#STATUS_REJECT_TOO_OLD"></a> STATUS_REJECT_TOO_OLD | `uint8` | 5 | Rejected: older than buffer limit (kOosmMaxTimeUs) or oldest sample |
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| <a id="#STATUS_REJECT_TOO_NEW"></a> STATUS_REJECT_TOO_NEW | `uint8` | 6 | Rejected: timestamp in the future (beyond tolerance) |
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| <a id="#STATUS_REJECT_STALE"></a> STATUS_REJECT_STALE | `uint8` | 7 | Rejected: history was reset due to staleness/discontinuity |
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| <a id="#STATUS_REJECT_EMPTY"></a> STATUS_REJECT_EMPTY | `uint8` | 8 | Rejected: history buffer not yet populated |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VteAidSource3d.msg)
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::: details Click here to see original file
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```c
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# Vision Target Estimator 3D fusion aid-source diagnostics, one fusion_status per NED axis.
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#
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# Published by: vision_target_estimator (VTEPosition) on every fusion attempt, including rejected ones.
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# Subscribed by: logger only. Inspect observation, innovation, test_ratio, and per-axis fusion_status to debug why a measurement was or was not fused.
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uint64 timestamp # [us] Time since system start
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uint64 timestamp_sample # [us] Timestamp of the raw observation
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uint64 time_last_predict # [us] Timestamp of last filter prediction
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# Observation & Innovation
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float32[3] observation # [-] [@frame NED] Sensor observation attempted to be fused
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float32[3] observation_variance # [-] [@frame NED] Variance of the observation attempted to be fused
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float32[3] innovation # [-] [@frame NED] Kalman Filter innovation (y = z - Hx)
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float32[3] innovation_variance # [-] [@frame NED] Kalman Filter variance of the innovation
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float32[3] test_ratio # [-] Normalized innovation squared (NIS)
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uint8[3] fusion_status # [@enum VTE_FUSION_STATUS] Fusion status code per axis
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uint8 STATUS_IDLE = 0 # No fusion attempted yet
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uint8 STATUS_FUSED_CURRENT = 1 # Fused immediately (low latency)
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uint8 STATUS_FUSED_OOSM = 2 # Fused via history buffer
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uint8 STATUS_REJECT_NIS = 3 # Rejected by Normalized Innovation Squared check
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uint8 STATUS_REJECT_COV = 4 # Rejected due to invalid/infinite covariance or numerical error
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uint8 STATUS_REJECT_TOO_OLD = 5 # Rejected: older than buffer limit (kOosmMaxTimeUs) or oldest sample
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uint8 STATUS_REJECT_TOO_NEW = 6 # Rejected: timestamp in the future (beyond tolerance)
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uint8 STATUS_REJECT_STALE = 7 # Rejected: history was reset due to staleness/discontinuity
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uint8 STATUS_REJECT_EMPTY = 8 # Rejected: history buffer not yet populated
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# OOSM Diagnostics (Shared across axes)
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float32 time_since_meas_ms # [ms] (now - timestamp_sample)
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uint8 history_steps # [-] Number of steps replayed in OOSM (0 if current or failed)
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# TOPICS vte_aid_gps_pos_target vte_aid_gps_pos_mission vte_aid_gps_vel_target vte_aid_gps_vel_uav
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# TOPICS vte_aid_fiducial_marker
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```
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:::
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