InertialFilterMsgPayload

struct InertialFilterMsgPayload

structure for filter-states output for the unscented kalman filter implementation of the inertial state estimator

Public Members

double timeTag

[s] Current time of validity for output

double covar[AKF_N_STATES * AKF_N_STATES]

[-] Current covariance of the filter

double state[AKF_N_STATES]

[-] Current estimated state of the filter

int numObs

[-] Valid observation count for this frame