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65 lines
5.1 KiB
Markdown
65 lines
5.1 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# EstimatorAidSource2d (повідомлення UORB)
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**TOPICS:** estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position estimator_aid_src_aux_vel estimator_aid_src_optical_flow estimator_aid_src_drag
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## Fields
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| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
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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_timestamp_sample"></a>timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
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| <a id="fld_estimator_instance"></a>estimator_instance | `uint8` | | | |
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| <a id="fld_device_id"></a>device_id | `uint32` | | | |
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| <a id="fld_time_last_fuse"></a>time_last_fuse | `uint64` | | | |
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| <a id="fld_observation"></a>observation | `float64[2]` | | | |
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| <a id="fld_observation_variance"></a>observation_variance | `float32[2]` | | | |
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| <a id="fld_innovation"></a>innovation | `float32[2]` | | | |
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| <a id="fld_innovation_filtered"></a>innovation_filtered | `float32[2]` | | | |
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| <a id="fld_innovation_variance"></a>innovation_variance | `float32[2]` | | | |
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| <a id="fld_test_ratio"></a>test_ratio | `float32[2]` | | | normalized innovation squared |
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| <a id="fld_test_ratio_filtered"></a>test_ratio_filtered | `float32[2]` | | | signed filtered test ratio |
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| <a id="fld_innovation_rejected"></a>innovation_rejected | `bool` | | | true if the observation has been rejected |
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| <a id="fld_fused"></a>fused | `bool` | | | true if the sample was successfully fused |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource2d.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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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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uint8 estimator_instance
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uint32 device_id
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uint64 time_last_fuse
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float64[2] observation
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float32[2] observation_variance
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float32[2] innovation
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float32[2] innovation_filtered
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float32[2] innovation_variance
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float32[2] test_ratio # normalized innovation squared
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float32[2] test_ratio_filtered # signed filtered test ratio
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bool innovation_rejected # true if the observation has been rejected
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bool fused # true if the sample was successfully fused
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# TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position
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# TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow
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# TOPICS estimator_aid_src_drag
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```
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:::
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