microstrain_inertial_msgs/HumanReadableStatus Message

# Convenience message to contain some useful device information
#
# This is a combination of several different messages to allow for an easy view of the device status.
# For more detailed information on the device status, see the messages mentioned in the field definitions below.
#
# !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
# NOTE: This is meant as a useful tool for checking general status of the device by a human.
#       This interface may change without a major version upgrade.
#       It is STRONGLY encouraged to not use this to actually control real logic.
#       For that, we would recommend looking at the other messages mentioned in this one
#       as well as the uncertainty for measurements
# !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

# Header containing the time at which this message was populated
#   header.frame_id will contain the frame ID of the IMU
std_msgs/Header header

# Device information. This information will be read when the node first activates.
# To force an update of this information (shouldn't change during runtime), call the mip/base/get_device_information service
microstrain_inertial_msgs/MipBaseDeviceInfo device_info

# GNSS state. See GNSS_STATE_* for possible values
# This value is computed from many different fields from microstrain_inertial_msgs/MipGnssFixInfo.msg and microstrain_inertial_msgs/MipFilterGnssPositionAidingStatus.msg
string gnss_state

# Dual antenna fix type. See DUAL_ANTENNA_FIX_TYPE_* enums for possble values
# This is identical to fix_type in microstrain_inertial_msgs/MipFilterGnssDualAntennaStatus.msg
string dual_antenna_fix_type

# Device-specific filter state. See filter_state_* enums for possible values
# This is identical to filter_state in microstrain_inertial_msgs/MipFilterStatus.msg represented as a string
string filter_state

# String version of the status_flags field of the MipFilterStatus message. Only active statuses will be in this list
# This is a list of all of the status_flags_* that are true in microstrain_inertial_msgs/MipFilterStatus.msg filtered to only include relevant flags for this type of device
# See STATIS_FLAG_* for possible values that could be in this array
string[] status_flags

# String version of the possible continuous bit fields possibly provided by the device.
# Generally, you want to see nothing populated in this message, but when you do see something, it can be used to diagnose problems with the device.
# This is a parsed out version of microstrain_inertial_msgs/MipSystemBuiltInTest.msg parsed to be accurate for each device
string[] continuous_bit_flags

# Possible value for any field if a devicedoes not support it
string UNSUPPORTED = "Unsupported"

# Possible values for gnss_state
string GNSS_STATE_NO_FIX    = "No Fix"
string GNSS_STATE_3D_FIX    = "3D Fix"
string GNSS_STATE_SBAS      = "SBAS"
string GNSS_STATE_RTK_FLOAT = "RTK Float"
string GNSS_STATE_RTK_FIXED = "RTK Fixed"

# Possible values for dual_antenna_fix_type
string DUAL_ANTENNA_FIX_TYPE_NONE  = "None"
string DUAL_ANTENNA_FIX_TYPE_FLOAT = "Dual Antenna Float"
string DUAL_ANTENNA_FIX_TYPE_FIXED = "Dual Antenna Fixed"

# Possible values for filter_state when the connected device is a philo device (GX5, CX5, CV5, etc)
string FILTER_STATE_GX5_STARTUP            = "Startup"
string FILTER_STATE_GX5_INIT               = "Init"
string FILTER_STATE_GX5_RUN_SOLUTION_VALID = "Solution Valid"
string FILTER_STATE_GX5_RUN_SOLUTION_ERROR = "Solution Error"

# Possible values for filter_state when the connected device is a prospect device (GQ7, CV7, etc)
string FILTER_STATE_GQ7_INIT      = "Init"
string FILTER_STATE_GQ7_VERT_GYRO = "Vertical Gyro"
string FILTER_STATE_GQ7_AHRS      = "AHRS"
string FILTER_STATE_GQ7_FULL_NAV  = "Full Nav"

# Possible values to be stored in status_flags when the connected device is a philo device (GX5, CX5, CV5, etc)
string STATUS_FLAGS_GX5_INIT_NO_ATTITUDE                           = "Init No Attitude"
string STATUS_FLAGS_GX5_INIT_NO_POSITION_VELOCITY                  = "Init No Position / Velocity"
string STATUS_FLAGS_GX5_RUN_IMU_UNAVAILABLE                        = "IMU Unavailable"
string STATUS_FLAGS_GX5_RUN_GPS_UNAVAILABLE                        = "GPS Unavailable"
string STATUS_FLAGS_GX5_RUN_MATRIX_SINGULARITY                     = "Matrix Singularity"
string STATUS_FLAGS_GX5_RUN_POSITION_COVARIANCE_WARNING            = "Position Covariance Warning"
string STATUS_FLAGS_GX5_RUN_VELOCITY_COVARIANCE_WARNING            = "Velocity Covariance Warning"
string STATUS_FLAGS_GX5_RUN_ATTITUDE_COVARIANCE_WARNING            = "Attitude Covariance Warning"
string STATUS_FLAGS_GX5_RUN_NAN_IN_SOLUTION_WARNING                = "NaN in Solution"
string STATUS_FLAGS_GX5_RUN_GYRO_BIAS_EST_HIGH_WARNING             = "Gyroscope Bias Estimate High"
string STATUS_FLAGS_GX5_RUN_ACCEL_BIAS_EST_HIGH_WARNING            = "Accelerometer Bias Estimate High"
string STATUS_FLAGS_GX5_RUN_GYRO_SCALE_FACTOR_EST_HIGH_WARNING     = "Gyroscope Scale Factor Estimate High"
string STATUS_FLAGS_GX5_RUN_ACCEL_SCALE_FACTOR_EST_HIGH_WARNING    = "Accelerometer Scal Factor Estimate High"
string STATUS_FLAGS_GX5_RUN_MAG_BIAS_EST_HIGH_WARNING              = "Magnetometer Bias Estimate High"
string STATUS_FLAGS_GX5_RUN_ANT_OFFSET_CORRECTION_EST_HIGH_WARNING = "Antenna Offset Correction Estimate High"
string STATUS_FLAGS_GX5_RUN_MAG_HARD_IRON_EST_HIGH_WARNING         = "Magnetometer Hard Iron Estimate High"
string STATUS_FLAGS_GX5_RUN_MAG_SOFT_IRON_EST_HIGH_WARNING         = "Magnetometer Soft Iron Estimate High"

# Possible values to be stored in status_flags when the connected device is a prospect device (GQ7, CV7, etc)
string STATUS_FLAGS_GQ7_FILTER_CONDITION_STABLE     = "Stable"
string STATUS_FLAGS_GQ7_FILTER_CONDITION_CONVERGING = "Converging"
string STATUS_FLAGS_GQ7_FILTER_CONDITION_UNSTABLE   = "Unstable"
string STATUS_FLAGS_GQ7_ROLL_PITCH_WARNING          = "Roll / Pitch Warning"
string STATUS_FLAGS_GQ7_HEADING_WARNING             = "Heading Warning"
string STATUS_FLAGS_GQ7_POSITION_WARNING            = "Position Warning"
string STATUS_FLAGS_GQ7_VELOCITY_WARNING            = "Velocity Warning"
string STATUS_FLAGS_GQ7_IMU_BIAS_WARNING            = "IMU Bias Warning"
string STATUS_FLAGS_GQ7_GNSS_CLK_WARNING            = "GNSS Clock Warning"
string STATUS_FLAGS_GQ7_ANTENNA_LEVER_ARM_WARNING   = "Antenna Lever Arm Warning"
string STATUS_FLAGS_GQ7_MOUNTING_TRANSFORM_WARNING  = "Mounting Transform Warning"
string STATUS_FLAGS_GQ7_TIME_SYNC_WARNING           = "Time Sync Warning"
string STATUS_FLAGS_GQ7_SOLUTION_ERROR              = "Solution Error"

# Possible values to be stored in continuous_bit_flags when the connected device is a GQ7
# See https://files.microstrain.com/GQ7+User+Manual/user_manual_content/additional_features/Built-in%20Test.htm for more information
string CONTINUOUS_BIT_FLAGS_GQ7_SYSTEM_CLOCK_FAILURE           = "System Clock Failure"
string CONTINUOUS_BIT_FLAGS_GQ7_POWER_FAULT                    = "Power Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_FIRMWARE_FAULT                 = "Firmware Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_TIMING_OVERLOAD                = "Timing Overload"
string CONTINUOUS_BIT_FLAGS_GQ7_BUFFER_OVERRUN                 = "Buffer Overrun"
string CONTINUOUS_BIT_FLAGS_GQ7_IMU_IPC_FAULT                  = "IMU IPC Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_FILTER_IPC_FAULT               = "Filter IPC Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_GNSS_IPC_FAULT                 = "GNSS IPC Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_IMU_CLOCK_FAULT                = "IMU Clock Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_IMU_COMMUNICATION_FAULT        = "IMU Communication Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_IMU_TIMING_OVERRUN             = "IMU Timing Overrun"
string CONTINUOUS_BIT_FLAGS_GQ7_IMU_CALIBRATION_ERROR_ACCEL    = "IMU Calibration Error - Accel"
string CONTINUOUS_BIT_FLAGS_GQ7_IMU_CALIBRATION_ERROR_GYRO     = "IMU Calibration Error - Gyro"
string CONTINUOUS_BIT_FLAGS_GQ7_IMU_CALIBRATION_ERROR_MAG      = "IMU Calibration Error - Mag"
string CONTINUOUS_BIT_FLAGS_GQ7_ACCELEROMETER_GENERAL_FAULT    = "Accelerometer General Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_ACCELEROMETER_OVER_RANGE       = "Accelerometer Over-Range"
string CONTINUOUS_BIT_FLAGS_GQ7_ACCELEROMETER_SELF_TEST_FAIL   = "Accelerometer Self-test Fail"
string CONTINUOUS_BIT_FLAGS_GQ7_GYROSCOPE_GENERAL_FAULT        = "Gyroscope General Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_GYROSCOPE_OVER_RANGE           = "Gyroscope Over-Range"
string CONTINUOUS_BIT_FLAGS_GQ7_GYROSCOPE_SELF_TEST_FAIL       = "Gyroscope Self-test Fail"
string CONTINUOUS_BIT_FLAGS_GQ7_MAGNETOMETER_GENERAL_FAULT     = "Magnetometer General Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_MAGNETOMETER_OVER_RANGE        = "Magnetometer Over-Range"
string CONTINUOUS_BIT_FLAGS_GQ7_MAGNETOMETER_SELF_TEST_FAIL    = "Magnetometer Self-test Fail"
string CONTINUOUS_BIT_FLAGS_GQ7_PRESSURE_SENSOR_GENERAL_FAULT  = "Pressure Sensor General Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_PRESSURE_SENSOR_OVER_RANGE     = "Pressure Sensor Over-Range"
string CONTINUOUS_BIT_FLAGS_GQ7_PRESSURE_SENSOR_SELF_TEST_FAIL = "Pressure Sensor Self-test Fail"
string CONTINUOUS_BIT_FLAGS_GQ7_FILTER_CLOCK_FAULT             = "Filter Clock Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_FILTER_HARDWARE_FAULT          = "Filter Hardware Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_FILTER_TIMING_OVERRUN          = "Filter Timing Overrun"
string CONTINUOUS_BIT_FLAGS_GQ7_FILTER_TIMING_UNDERRUN         = "Filter Timing Underrun"
string CONTINUOUS_BIT_FLAGS_GQ7_FILTER_COMMUNICATION_ERROR     = "Filter Communication Error"
string CONTINUOUS_BIT_FLAGS_GQ7_GNSS_CLOCK_FAULT               = "GNSS Clock Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_GNSS_HARDWARE_FAULT            = "GNSS Hardware Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_GNSS_COMMUNICATION_ERROR       = "GNSS Communication Error"
string CONTINUOUS_BIT_FLAGS_GQ7_GPS_TIME_FAULT                 = "GPS Time Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_GNSS_TIMING_OVERRUN            = "GNSS Timing Overrun"
string CONTINUOUS_BIT_FLAGS_GQ7_GNSS_RECEIVER_1_POWER_FAULT    = "GNSS Receiver 1 Power Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_GNSS_RECEIVER_1_FAULT          = "GNSS Receiver 1 Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_GNSS_ANTENNA_1_SHORTED         = "GNSS Antenna 1 Shorted"
string CONTINUOUS_BIT_FLAGS_GQ7_GNSS_ANTENNA_1_OPEN            = "GNSS Antenna 1 Open"
string CONTINUOUS_BIT_FLAGS_GQ7_GNSS_RECEIVER_1_SOLUTION_FAULT = "GNSS Receiver 1 Solution Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_GNSS_RECEIVER_2_POWER_FAULT    = "GNSS Receiver 2 Power Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_GNSS_RECEIVER_2_FAULT          = "GNSS Receiver 2 Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_GNSS_ANTENNA_2_SHORTED         = "GNSS Antenna 2 Shorted"
string CONTINUOUS_BIT_FLAGS_GQ7_GNSS_ANTENNA_2_OPEN            = "GNSS Antenna 2 Open"
string CONTINUOUS_BIT_FLAGS_GQ7_GNSS_RECEIVER_2_SOLUTION_FAULT = "GNSS Receiver 2 Solution Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_RTCM_COMMUNICATION_FAULT       = "RTCM Communication Fault"
string CONTINUOUS_BIT_FLAGS_GQ7_RTK_DONGLE_FAULT               = "RTK Dongle Fault"

# Possible values to be stored in continuous_bit_flags when the device is a CV7
# See https://files.microstrain.com/CV7+Online/user_manual_content/additional_features/Built-in%20Test.htm?Highlight=built%20in%20test for more information
string CONTINUOUS_BIT_FLAGS_CV7_SYSTEM_CLOCK_FAILURE                = "System Clock Failure"
string CONTINUOUS_BIT_FLAGS_CV7_POWER_FAULT                         = "Power Fault"
string CONTINUOUS_BIT_FLAGS_CV7_FIRMWARE_FAULT                      = "Firmware Fault"
string CONTINUOUS_BIT_FLAGS_CV7_TIMING_OVERLOAD                     = "Timing Overload"
string CONTINUOUS_BIT_FLAGS_CV7_BUFFER_OVERRUN                      = "Buffer Overrun"
string CONTINUOUS_BIT_FLAGS_CV7_IMU_PROCESS_FAULT                   = "IMU Process Fault"
string CONTINUOUS_BIT_FLAGS_CV7_IMU_DATA_RATE_MISMATCH              = "IMU Data Rate Mismatch"
string CONTINUOUS_BIT_FLAGS_CV7_IMU_OVERRUN_DROPPED_DATA            = "IMU Overrun/Dropped Data"
string CONTINUOUS_BIT_FLAGS_CV7_IMU_STUCK                           = "IMU Stuck"
string CONTINUOUS_BIT_FLAGS_CV7_FILTER_PROCESS_FAULT                = "Filter Process Fault"
string CONTINUOUS_BIT_FLAGS_CV7_FILTER_DROPPED_DATA                 = "Filter Dropped Data"
string CONTINUOUS_BIT_FLAGS_CV7_FILTER_RATE_MISMATCH                = "Filter Rate Mismatch"
string CONTINUOUS_BIT_FLAGS_CV7_FILTER_STUCK                        = "Filter Stuck"
string CONTINUOUS_BIT_FLAGS_CV7_IMU_CLOCK_FAULT                     = "IMU Clock Fault"
string CONTINUOUS_BIT_FLAGS_CV7_IMU_COMMUNICATION_FAULT             = "IMU Communication Fault"
string CONTINUOUS_BIT_FLAGS_CV7_IMU_TIMING_OVERRUN                  = "IMU Timing Overrun"
string CONTINUOUS_BIT_FLAGS_CV7_IMU_CALIBRATION_ERROR_ACCELEROMETER = "IMU Calibration Error - Accelerometer"
string CONTINUOUS_BIT_FLAGS_CV7_IMU_CALIBRATION_ERROR_GYROSCOPE     = "IMU Calibration Error - Gyroscope"
string CONTINUOUS_BIT_FLAGS_CV7_IMU_CALIBRATION_ERROR_MAGNETOMETER  = "IMU Calibration Error - Magnetometer"
string CONTINUOUS_BIT_FLAGS_CV7_ACCELEROMETER_GENERAL_FAULT         = "Accelerometer General Fault"
string CONTINUOUS_BIT_FLAGS_CV7_ACCELEROMETER_OVER_RANGE            = "Accelerometer Over-range"
string CONTINUOUS_BIT_FLAGS_CV7_ACCELEROMETER_SELF_TEST_FAIL        = "Accelerometer Self-test Fail"
string CONTINUOUS_BIT_FLAGS_CV7_GYROSCOPE_GENERAL_FAULT             = "Gyroscope General Fault"
string CONTINUOUS_BIT_FLAGS_CV7_GYROSCOPE_OVER_RANGE                = "Gyroscope Over-range"
string CONTINUOUS_BIT_FLAGS_CV7_GYROSCOPE_SELF_TEST_FAIL            = "Gyroscope Self-test Fail"
string CONTINUOUS_BIT_FLAGS_CV7_MAGNETOMETER_GENERAL_FAULT          = "Magnetometer General Fault"
string CONTINUOUS_BIT_FLAGS_CV7_MAGNETOMETER_OVER_RANGE             = "Magnetometer Over-range"
string CONTINUOUS_BIT_FLAGS_CV7_MAGNETOMETER_SELF_TEST_FAIL         = "Magnetometer Self-test Fail"
string CONTINUOUS_BIT_FLAGS_CV7_PRESSURE_SENSOR_GENERAL_FAULT       = "Pressure Sensor General Fault"
string CONTINUOUS_BIT_FLAGS_CV7_PRESSURE_SENSOR_OVER_RANGE          = "Pressure Sensor Over-range"
string CONTINUOUS_BIT_FLAGS_CV7_PRESSURE_SENSOR_SELF_TEST_FAIL      = "Pressure Sensor Self-test Fail"
string CONTINUOUS_BIT_FLAGS_CV7_FACTORY_BITS_INVALID                = "Factory Bits Invalid"
string CONTINUOUS_BIT_FLAGS_CV7_FILTER_FAULT                        = "Filter Fault"
string CONTINUOUS_BIT_FLAGS_CV7_FILTER_TIMING_OVERRUN               = "Filter Timing Overrun"
string CONTINUOUS_BIT_FLAGS_CV7_FILTER_TIMING_UNDERRUN              = "Filter Timing Underrun"