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ardupilotmega.xml: report active EKF source sets and lanes #428

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ardupilotmega.xml: report active EKF source sets and lanes #428

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ardupilotmega.xml: report active EKF source sets and lanes
landswellsong Sep 24, 2025
8d32670
ardupilotmega.xml: ESTIMATOR_TYPE enum
landswellsong Sep 30, 2025
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14 changes: 14 additions & 0 deletions message_definitions/v1.0/ardupilotmega.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -997,6 +997,17 @@
<description>Set if EKF has never been healthy.</description>
</entry>
</enum>
<enum name="ESTIMATOR_TYPE">
<entry value="0" name="ESTIMATOR_TYPE_UNKNOWN"/>
<!-- for consistency, remember we had an EKF1 -->
<entry value="1" name="ESTIMATOR_TYPE_EKF1"/>
<entry value="2" name="ESTIMATOR_TYPE_EKF2"/>
<entry value="3" name="ESTIMATOR_TYPE_EKF3"/>
<!-- -->
<entry value="10" name="ESTIMATOR_TYPE_EXTERNAL"/>
<!-- -->
<entry value="100" name="ESTIMATOR_TYPE_SIM"/>
</enum>
<enum name="PID_TUNING_AXIS">
<entry value="1" name="PID_TUNING_ROLL"/>
<entry value="2" name="PID_TUNING_PITCH"/>
Expand Down Expand Up @@ -1723,6 +1734,9 @@
<field type="float" name="terrain_alt_variance">Terrain Altitude variance.</field>
<extensions/>
<field type="float" name="airspeed_variance">Airspeed variance.</field>
<field type="uint8_t" enum="ESTIMATOR_TYPE" name="type">Estimator type that produced the report.</field>
<field type="uint8_t" name="active_lane_id" minValue="1" maxValue="6">Estimator lane (core) that produced the report.</field>
<field type="uint8_t" name="active_srcset_id" minValue="1" maxValue="3">Currently active source set.</field>
</message>
<!-- realtime PID tuning message -->
<message id="194" name="PID_TUNING">
Expand Down