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35 lines
1.8 KiB
Plaintext
35 lines
1.8 KiB
Plaintext
# Vision Target Estimator 1D fusion aid-source diagnostics (e.g. yaw).
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#
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# Published by: vision_target_estimator (VTEOrientation) on every fusion attempt, including rejected ones.
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# Subscribed by: logger only. Inspect observation, innovation, test_ratio, and 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 observation # [-] Observation attempted to be fused
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float32 observation_variance # [-] Variance of observation attempted to be fused
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float32 innovation # [-] Kalman Filter innovation (y = z - Hx)
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float32 innovation_variance # [-] Kalman Filter variance of the innovation
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float32 test_ratio # [-] Normalized innovation squared (NIS)
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uint8 fusion_status # [@enum VTE_FUSION_STATUS] Fusion status code
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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
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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_ev_yaw
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