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11 lines
551 B
Plaintext
11 lines
551 B
Plaintext
# 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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