Estimatorstatusflags

EstimatorStatusFlags (UORB message)

source file

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

filter control status

uint32 control_status_changes # number of filter control status (cs) changes bool cs_tilt_align # 0 - true if the filter tilt alignment is complete bool cs_yaw_align # 1 - true if the filter yaw alignment is complete bool cs_gps # 2 - true if GPS measurement fusion is intended bool cs_opt_flow # 3 - true if optical flow measurements fusion is intended bool cs_mag_hdg # 4 - true if a simple magnetic yaw heading fusion is intended bool cs_mag_3d # 5 - true if 3-axis magnetometer measurement fusion is intended bool cs_mag_dec # 6 - true if synthetic magnetic declination measurements fusion is intended bool cs_in_air # 7 - true when the vehicle is airborne bool cs_wind # 8 - true when wind velocity is being estimated bool cs_baro_hgt # 9 - true when baro height is being fused as a primary height reference bool cs_rng_hgt # 10 - true when range finder height is being fused as a primary height reference bool cs_gps_hgt # 11 - true when GPS height is being fused as a primary height reference bool cs_ev_pos # 12 - true when local position data fusion from external vision is intended bool cs_ev_yaw # 13 - true when yaw data from external vision measurements fusion is intended bool cs_ev_hgt # 14 - true when height data from external vision measurements is being fused bool cs_fuse_beta # 15 - true when synthetic sideslip measurements are being fused bool cs_mag_field_disturbed # 16 - true when the mag field does not match the expected strength bool cs_fixed_wing # 17 - true when the vehicle is operating as a fixed wing vehicle bool cs_mag_fault # 18 - true when the magnetometer has been declared faulty and is no longer being used bool cs_fuse_aspd # 19 - true when airspeed measurements are being fused bool cs_gnd_effect # 20 - true when protection from ground effect induced static pressure rise is active bool cs_rng_stuck # 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough bool cs_gnss_yaw # 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended bool cs_mag_aligned_in_flight # 23 - true when the in-flight mag field alignment has been completed bool cs_ev_vel # 24 - true when local frame velocity data fusion from external vision measurements is intended bool cs_synthetic_mag_z # 25 - true when we are using a synthesized measurement for the magnetometer Z component bool cs_vehicle_at_rest # 26 - true when the vehicle is at rest bool cs_gnss_yaw_fault # 27 - true when the GNSS heading has been declared faulty and is no longer being used bool cs_rng_fault # 28 - true when the range finder has been declared faulty and is no longer being used bool cs_inertial_dead_reckoning # 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift bool cs_wind_dead_reckoning # 30 - true if we are navigationg reliant on wind relative measurements bool cs_rng_kin_consistent # 31 - true when the range finder kinematic consistency check is passing bool cs_fake_pos # 32 - true when fake position measurements are being fused bool cs_fake_hgt # 33 - true when fake height measurements are being fused bool cs_gravity_vector # 34 - true when gravity vector measurements are being fused bool cs_mag # 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended bool cs_ev_yaw_fault # 36 - true when the EV heading has been declared faulty and is no longer being used bool cs_mag_heading_consistent # 37 - true when the heading obtained from mag data is declared consistent with the filter bool cs_aux_gpos # 38 - true if auxiliary global position measurement fusion is intended bool cs_rng_terrain # 39 - true if we are fusing range finder data for terrain bool cs_opt_flow_terrain # 40 - true if we are fusing flow data for terrain bool cs_valid_fake_pos # 41 - true if a valid constant position is being fused bool cs_constant_pos # 42 - true if the vehicle is at a constant position

fault status

uint32 fault_status_changes # number of filter fault status (fs) changes bool fs_bad_mag_x # 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error bool fs_bad_mag_y # 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error bool fs_bad_mag_z # 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error bool fs_bad_hdg # 3 - true if the fusion of the heading angle has encountered a numerical error bool fs_bad_mag_decl # 4 - true if the fusion of the magnetic declination has encountered a numerical error bool fs_bad_airspeed # 5 - true if fusion of the airspeed has encountered a numerical error bool fs_bad_sideslip # 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error bool fs_bad_optflow_x # 7 - true if fusion of the optical flow X axis has encountered a numerical error bool fs_bad_optflow_y # 8 - true if fusion of the optical flow Y axis has encountered a numerical error bool fs_bad_acc_vertical # 10 - true if bad vertical accelerometer data has been detected bool fs_bad_acc_clipping # 11 - true if delta velocity data contains clipping (asymmetric railing)

innovation test failures

uint32 innovation_fault_status_changes # number of innovation fault status (reject) changes bool reject_hor_vel # 0 - true if horizontal velocity observations have been rejected bool reject_ver_vel # 1 - true if vertical velocity observations have been rejected bool reject_hor_pos # 2 - true if horizontal position observations have been rejected bool reject_ver_pos # 3 - true if vertical position observations have been rejected bool reject_yaw # 7 - true if the yaw observation has been rejected bool reject_airspeed # 8 - true if the airspeed observation has been rejected bool reject_sideslip # 9 - true if the synthetic sideslip observation has been rejected bool reject_hagl # 10 - true if the height above ground observation has been rejected bool reject_optflow_x # 11 - true if the X optical flow observation has been rejected bool reject_optflow_y # 12 - true if the Y optical flow observation has been rejected

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