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/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file estimator_status.h
* Definition of the estimator_status_report uORB topic.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#ifndef ESTIMATOR_STATUS_H_
#define ESTIMATOR_STATUS_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* Estimator status report.
*
* This is a generic status report struct which allows any of the onboard estimators
* to write the internal state to the system log.
*
*/
struct estimator_status_report {
/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes - change with consideration only */
uint64_t timestamp; /**< Timestamp in microseconds since boot */
float states[32]; /**< Internal filter states */
float n_states; /**< Number of states effectively used */
uint8_t nan_flags; /**< Bitmask to indicate NaN states */
uint8_t health_flags; /**< Bitmask to indicate sensor health states (vel, pos, hgt) */
uint8_t timeout_flags; /**< Bitmask to indicate timeout flags (vel, pos, hgt) */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(estimator_status);
#endif
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