fsh_est_t Struct Reference

#include <fc_shared.h>

Data Fields
uint8_t	imu_ok
uint8_t	running
uint8_t	acc_gated
uint8_t	mag_gated
float	q [4]
	body -> world NWU
float	att_unc_deg
	1 sigma, largest axis
float	mag_interf_pct
float	vib_mg
	RMS of |a| - 1 g over ~1 s
uint16_t	acc_clip
	samples near full scale since arm
float	loop_hz
float	jitter_us
float	cpu_pct
float	imu_temp_c
uint8_t	alt_valid
	vertical / navigation
uint8_t	tof_valid
uint8_t	tof_ground
float	h
float	vz
float	tof_h
uint16_t	tof_mm
	raw, 0xFFFF n/a
uint8_t	flow_q
	0..100, 0xFF n/a
uint8_t	flow_ok
	bridge alive, PMW3901 OK
uint8_t	flow_usable
	above the PMW3901 minimum height (80 mm)
float	vel_body [2]
	m/s from flow x height (x fwd, y left); 0 when not usable
uint32_t	baro_pa
	0 n/a
uint16_t	sensors
	IMU / MAG_FC / BARO found by the IMU init.

Detailed Description

Definition at line 17 of file fc_shared.h.

Field Documentation

imu_ok

uint8_t fsh_est_t::imu_ok

Definition at line 18 of file fc_shared.h.

Referenced by build_checks(), and publish_est().

running

uint8_t fsh_est_t::running

Definition at line 18 of file fc_shared.h.

Referenced by build_checks(), publish_est(), and send_system().

acc_gated

uint8_t fsh_est_t::acc_gated

Definition at line 18 of file fc_shared.h.

Referenced by publish_est(), and send_system().

mag_gated

uint8_t fsh_est_t::mag_gated

Definition at line 18 of file fc_shared.h.

Referenced by publish_est(), and send_system().

q

float fsh_est_t::q[4]

body -> world NWU

Definition at line 19 of file fc_shared.h.

Referenced by publish_est(), send_flight(), and send_nav().

att_unc_deg

float fsh_est_t::att_unc_deg

1 sigma, largest axis

Definition at line 20 of file fc_shared.h.

Referenced by build_checks(), publish_est(), and send_system().

mag_interf_pct

float fsh_est_t::mag_interf_pct

Definition at line 21 of file fc_shared.h.

Referenced by build_checks(), publish_est(), and send_system().

vib_mg

float fsh_est_t::vib_mg

RMS of |a| - 1 g over ~1 s

Definition at line 22 of file fc_shared.h.

Referenced by publish_est(), and send_system().

acc_clip

uint16_t fsh_est_t::acc_clip

samples near full scale since arm

Definition at line 23 of file fc_shared.h.

Referenced by publish_est(), and send_system().

loop_hz

float fsh_est_t::loop_hz

Definition at line 24 of file fc_shared.h.

Referenced by publish_est(), and send_system().

jitter_us

float fsh_est_t::jitter_us

Definition at line 24 of file fc_shared.h.

Referenced by publish_est(), and send_system().

cpu_pct

float fsh_est_t::cpu_pct

Definition at line 24 of file fc_shared.h.

Referenced by publish_est(), and send_system().

imu_temp_c

float fsh_est_t::imu_temp_c

Definition at line 24 of file fc_shared.h.

Referenced by publish_est(), and send_system().

alt_valid

uint8_t fsh_est_t::alt_valid

vertical / navigation

Definition at line 26 of file fc_shared.h.

Referenced by build_checks(), publish_est(), and send_nav().

tof_valid

uint8_t fsh_est_t::tof_valid

Definition at line 26 of file fc_shared.h.

Referenced by publish_est().

tof_ground

uint8_t fsh_est_t::tof_ground

Definition at line 26 of file fc_shared.h.

Referenced by publish_est().

h

float fsh_est_t::h

Definition at line 27 of file fc_shared.h.

Referenced by publish_est().

vz

float fsh_est_t::vz

Definition at line 27 of file fc_shared.h.

Referenced by publish_est(), and send_nav().

tof_h

float fsh_est_t::tof_h

Definition at line 27 of file fc_shared.h.

Referenced by publish_est().

tof_mm

uint16_t fsh_est_t::tof_mm

raw, 0xFFFF n/a

Definition at line 28 of file fc_shared.h.

Referenced by publish_est(), and send_nav().

flow_q

uint8_t fsh_est_t::flow_q

0..100, 0xFF n/a

Definition at line 29 of file fc_shared.h.

Referenced by build_checks(), publish_est(), and send_nav().

flow_ok

uint8_t fsh_est_t::flow_ok

bridge alive, PMW3901 OK

Definition at line 30 of file fc_shared.h.

Referenced by build_checks(), and publish_est().

flow_usable

uint8_t fsh_est_t::flow_usable

above the PMW3901 minimum height (80 mm)

Definition at line 31 of file fc_shared.h.

Referenced by publish_est(), send_flight(), and send_nav().

vel_body

float fsh_est_t::vel_body[2]

m/s from flow x height (x fwd, y left); 0 when not usable

Definition at line 32 of file fc_shared.h.

Referenced by publish_est(), send_flight(), and send_nav().

baro_pa

uint32_t fsh_est_t::baro_pa

0 n/a

Definition at line 33 of file fc_shared.h.

Referenced by publish_est(), and send_nav().

sensors

uint16_t fsh_est_t::sensors

IMU / MAG_FC / BARO found by the IMU init.

Definition at line 34 of file fc_shared.h.

Referenced by log_sensors(), publish_est(), and sensors_now().

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The documentation for this struct was generated from the following file:

• app/fc_shared.h