Estimatorinnovations

EstimatorInnovations (UORB message)

source file

```c uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds)

GPS

float32[2] gps_hvel # horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)2) float32 gps_vvel # vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)2) float32[2] gps_hpos # horizontal GPS position innovation (m) and innovation variance (m2) float32 gps_vpos # vertical GPS position innovation (m) and innovation variance (m2)

External Vision

float32[2] ev_hvel # horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)2) float32 ev_vvel # vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)2) float32[2] ev_hpos # horizontal external vision position innovation (m) and innovation variance (m2) float32 ev_vpos # vertical external vision position innovation (m) and innovation variance (m2)

Height sensors

float32 rng_vpos # range sensor height innovation (m) and innovation variance (m2) float32 baro_vpos # barometer height innovation (m) and innovation variance (m2)

Auxiliary velocity

float32[2] aux_hvel # horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)

Optical flow

float32[2] flow # flow innvoation (rad/sec) and innovation variance ((rad/sec)**2)

Various

float32 heading # heading innovation (rad) and innovation variance (rad2) float32[3] mag_field # earth magnetic field innovation (Gauss) and innovation variance (Gauss2) float32[3] gravity # gravity innovation from accelerometerr vector (m/s2) float32[2] drag # drag specific force innovation (m/sec2) and innovation variance ((m/sec)2) float32 airspeed # airspeed innovation (m/sec) and innovation variance ((m/sec)2) float32 beta # synthetic sideslip innovation (rad) and innovation variance (rad2) float32 hagl # height of ground innovation (m) and innovation variance (m2) float32 hagl_rate # height of ground rate innovation (m/s) and innovation variance ((m/s)**2)

The innovation test ratios are scalar values. In case the field is a vector,

the test ratio will be put in the first component of the vector.

TOPICS estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios

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