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67 lines
5.0 KiB
Markdown
67 lines
5.0 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# EstimatorFusionControl (UORB message)
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**TOPICS:** estimator_fusion_control
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## Fields
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| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
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| -------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
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| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
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| <a id="fld_gps_intended"></a>gps_intended | `bool[2]` | | | |
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| <a id="fld_of_intended"></a>of_intended | `bool` | | | |
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| <a id="fld_ev_intended"></a>ev_intended | `bool` | | | |
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| <a id="fld_agp_intended"></a>agp_intended | `bool[4]` | | | |
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| <a id="fld_baro_intended"></a>baro_intended | `bool` | | | |
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| <a id="fld_rng_intended"></a>rng_intended | `bool` | | | |
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| <a id="fld_mag_intended"></a>mag_intended | `bool` | | | |
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| <a id="fld_aspd_intended"></a>aspd_intended | `bool` | | | |
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| <a id="fld_rngbcn_intended"></a>rngbcn_intended | `bool` | | | |
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| <a id="fld_gps_active"></a>gps_active | `bool[2]` | | | |
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| <a id="fld_of_active"></a>of_active | `bool` | | | |
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| <a id="fld_ev_active"></a>ev_active | `bool` | | | |
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| <a id="fld_agp_active"></a>agp_active | `bool[4]` | | | |
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| <a id="fld_baro_active"></a>baro_active | `bool` | | | |
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| <a id="fld_rng_active"></a>rng_active | `bool` | | | |
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| <a id="fld_mag_active"></a>mag_active | `bool` | | | |
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| <a id="fld_aspd_active"></a>aspd_active | `bool` | | | |
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| <a id="fld_rngbcn_active"></a>rngbcn_active | `bool` | | | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorFusionControl.msg)
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:::details
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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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# sensor intended for fusion (enabled via EKF2_SENS_EN AND CTRL param != disabled)
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bool[2] gps_intended
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bool of_intended
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bool ev_intended
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bool[4] agp_intended
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bool baro_intended
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bool rng_intended
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bool mag_intended
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bool aspd_intended
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bool rngbcn_intended
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# whether the estimator is actively fusing data from each source
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bool[2] gps_active
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bool of_active
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bool ev_active
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bool[4] agp_active
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bool baro_active
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bool rng_active
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bool mag_active
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bool aspd_active
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bool rngbcn_active
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```
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:::
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