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44 lines
2.6 KiB
Markdown
44 lines
2.6 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# VteBiasInitStatus (UORB message)
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Diagnostics for the initial GNSS/vision bias averaging phase in the Vision Target Estimator.
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Published by: vision_target_estimator (VTEPosition) while the bias low-pass filter is running.
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Subscribed by: logger only, to verify that the bias settles before the estimator starts fusing vision.
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**TOPICS:** vte_bias_init_status
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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` | us | | Time since system start |
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| <a id="fld_raw_bias"></a>raw_bias | `float32[3]` | m [NED] | | Current GNSS-vision bias sample |
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| <a id="fld_filtered_bias"></a>filtered_bias | `float32[3]` | m [NED] | | Low-pass filtered bias sample |
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| <a id="fld_delta_norm"></a>delta_norm | `float32` | m | | norm(raw_bias_k - raw_bias_k-1) |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VteBiasInitStatus.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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# Diagnostics for the initial GNSS/vision bias averaging phase in the Vision Target Estimator.
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#
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# Published by: vision_target_estimator (VTEPosition) while the bias low-pass filter is running.
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# Subscribed by: logger only, to verify that the bias settles before the estimator starts fusing vision.
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uint64 timestamp # [us] Time since system start
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float32[3] raw_bias # [m] [@frame NED] Current GNSS-vision bias sample
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float32[3] filtered_bias # [m] [@frame NED] Low-pass filtered bias sample
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float32 delta_norm # [m] norm(raw_bias_k - raw_bias_k-1)
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```
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:::
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