estimator_status.h

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 *
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 *    the documentation and/or other materials provided with the
 *    distribution.
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 *    used to endorse or promote products derived from this software
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/* Auto-generated by genmsg_cpp from file estimator_status.msg */


#pragma once


#include <uORB/uORB.h>


#ifndef __cplusplus
#define ESTIMATOR_STATUS_GPS_CHECK_FAIL_GPS_FIX 0
#define ESTIMATOR_STATUS_GPS_CHECK_FAIL_MIN_SAT_COUNT 1
#define ESTIMATOR_STATUS_GPS_CHECK_FAIL_MIN_PDOP 2
#define ESTIMATOR_STATUS_GPS_CHECK_FAIL_MAX_HORZ_ERR 3
#define ESTIMATOR_STATUS_GPS_CHECK_FAIL_MAX_VERT_ERR 4
#define ESTIMATOR_STATUS_GPS_CHECK_FAIL_MAX_SPD_ERR 5
#define ESTIMATOR_STATUS_GPS_CHECK_FAIL_MAX_HORZ_DRIFT 6
#define ESTIMATOR_STATUS_GPS_CHECK_FAIL_MAX_VERT_DRIFT 7
#define ESTIMATOR_STATUS_GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR 8
#define ESTIMATOR_STATUS_GPS_CHECK_FAIL_MAX_VERT_SPD_ERR 9
#define ESTIMATOR_STATUS_CS_TILT_ALIGN 0
#define ESTIMATOR_STATUS_CS_YAW_ALIGN 1
#define ESTIMATOR_STATUS_CS_GPS 2
#define ESTIMATOR_STATUS_CS_OPT_FLOW 3
#define ESTIMATOR_STATUS_CS_MAG_HDG 4
#define ESTIMATOR_STATUS_CS_MAG_3D 5
#define ESTIMATOR_STATUS_CS_MAG_DEC 6
#define ESTIMATOR_STATUS_CS_IN_AIR 7
#define ESTIMATOR_STATUS_CS_WIND 8
#define ESTIMATOR_STATUS_CS_BARO_HGT 9
#define ESTIMATOR_STATUS_CS_RNG_HGT 10
#define ESTIMATOR_STATUS_CS_GPS_HGT 11
#define ESTIMATOR_STATUS_CS_EV_POS 12
#define ESTIMATOR_STATUS_CS_EV_YAW 13
#define ESTIMATOR_STATUS_CS_EV_HGT 14
#define ESTIMATOR_STATUS_CS_BETA 15
#define ESTIMATOR_STATUS_CS_MAG_FIELD 16
#define ESTIMATOR_STATUS_CS_FIXED_WING 17
#define ESTIMATOR_STATUS_CS_MAG_FAULT 18
#define ESTIMATOR_STATUS_CS_ASPD 19
#define ESTIMATOR_STATUS_CS_GND_EFFECT 20
#define ESTIMATOR_STATUS_CS_RNG_STUCK 21
#define ESTIMATOR_STATUS_CS_GPS_YAW 22
#define ESTIMATOR_STATUS_CS_MAG_ALIGNED 23

#endif


#ifdef __cplusplus
struct __EXPORT estimator_status_s {
#else
struct estimator_status_s {
#endif
    uint64_t timestamp;
    float states[24];
    float vibe[3];
    float covariances[24];
    uint32_t control_mode_flags;
    float pos_horiz_accuracy;
    float pos_vert_accuracy;
    float mag_test_ratio;
    float vel_test_ratio;
    float pos_test_ratio;
    float hgt_test_ratio;
    float tas_test_ratio;
    float hagl_test_ratio;
    float beta_test_ratio;
    float time_slip;
    uint16_t gps_check_fail_flags;
    uint16_t filter_fault_flags;
    uint16_t innovation_check_flags;
    uint16_t solution_status_flags;
    uint8_t n_states;
    bool pre_flt_fail_innov_heading;
    bool pre_flt_fail_innov_vel_horiz;
    bool pre_flt_fail_innov_vel_vert;
    bool pre_flt_fail_innov_height;
    bool pre_flt_fail_mag_field_disturbed;
    uint8_t health_flags;
    uint8_t timeout_flags;


#ifdef __cplusplus
    static constexpr uint8_t GPS_CHECK_FAIL_GPS_FIX = 0;
    static constexpr uint8_t GPS_CHECK_FAIL_MIN_SAT_COUNT = 1;
    static constexpr uint8_t GPS_CHECK_FAIL_MIN_PDOP = 2;
    static constexpr uint8_t GPS_CHECK_FAIL_MAX_HORZ_ERR = 3;
    static constexpr uint8_t GPS_CHECK_FAIL_MAX_VERT_ERR = 4;
    static constexpr uint8_t GPS_CHECK_FAIL_MAX_SPD_ERR = 5;
    static constexpr uint8_t GPS_CHECK_FAIL_MAX_HORZ_DRIFT = 6;
    static constexpr uint8_t GPS_CHECK_FAIL_MAX_VERT_DRIFT = 7;
    static constexpr uint8_t GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 8;
    static constexpr uint8_t GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 9;
    static constexpr uint8_t CS_TILT_ALIGN = 0;
    static constexpr uint8_t CS_YAW_ALIGN = 1;
    static constexpr uint8_t CS_GPS = 2;
    static constexpr uint8_t CS_OPT_FLOW = 3;
    static constexpr uint8_t CS_MAG_HDG = 4;
    static constexpr uint8_t CS_MAG_3D = 5;
    static constexpr uint8_t CS_MAG_DEC = 6;
    static constexpr uint8_t CS_IN_AIR = 7;
    static constexpr uint8_t CS_WIND = 8;
    static constexpr uint8_t CS_BARO_HGT = 9;
    static constexpr uint8_t CS_RNG_HGT = 10;
    static constexpr uint8_t CS_GPS_HGT = 11;
    static constexpr uint8_t CS_EV_POS = 12;
    static constexpr uint8_t CS_EV_YAW = 13;
    static constexpr uint8_t CS_EV_HGT = 14;
    static constexpr uint8_t CS_BETA = 15;
    static constexpr uint8_t CS_MAG_FIELD = 16;
    static constexpr uint8_t CS_FIXED_WING = 17;
    static constexpr uint8_t CS_MAG_FAULT = 18;
    static constexpr uint8_t CS_ASPD = 19;
    static constexpr uint8_t CS_GND_EFFECT = 20;
    static constexpr uint8_t CS_RNG_STUCK = 21;
    static constexpr uint8_t CS_GPS_YAW = 22;
    static constexpr uint8_t CS_MAG_ALIGNED = 23;

#endif
};

/* register this as object request broker structure */
ORB_DECLARE(estimator_status);


#ifdef __cplusplus
void print_message(const estimator_status_s& message);
#endif