shared/uavobjectdefinition/ekfstatevariance.xml

   1 <xml>
   2     <object name="EKFStateVariance" singleinstance="true" settings="false" category="State">
   3         <description>Extended Kalman Filter state covariance</description>
   4         <field name="P" units="1^2" type="float">
   5                 <elementnames>
   6                         <elementname>PositionNorth</elementname>
   7                         <elementname>PositionEast</elementname>
   8                         <elementname>PositionDown</elementname>
   9                         <elementname>VelocityNorth</elementname>
  10                         <elementname>VelocityEast</elementname>
  11                         <elementname>VelocityDown</elementname>
  12                         <elementname>AttitudeQ1</elementname>
  13                         <elementname>AttitudeQ2</elementname>
  14                         <elementname>AttitudeQ3</elementname>
  15                         <elementname>AttitudeQ4</elementname>
  16                         <elementname>GyroDriftX</elementname>
  17                         <elementname>GyroDriftY</elementname>
  18                         <elementname>GyroDriftZ</elementname>
  19                 </elementnames>
  20         </field>
  21         <access gcs="readwrite" flight="readwrite"/>
  22         <telemetrygcs acked="false" updatemode="manual" period="0"/>
  23         <telemetryflight acked="false" updatemode="throttled" period="10000"/>
  24         <logging updatemode="manual" period="0"/>
  25     </object>
  26 </xml>