{ "title": "ROS message contract checks on real recordings", "schema_version": 1, "recording_count": 47, "unique_recording_hash_count": 47, "recordings_with_each_finding": { "/mavros/battery.current": 47, "/mavros/battery.voltage": 47, "/mavros/imu/mag.magnetic_field": 47 }, "unmeasured_orientation_samples_correctly_ignored": 49181, "method": "Read declared ROS message types and numeric fields from every original ALFA processed ROS bag. Check current TrialONE message rules. No language model, API call or new robot flight is involved.", "scope": "This measures recorded message inconsistencies in a research dataset collected with a modified MAVROS bridge. It does not score detection of all 47 labelled aircraft failures or prove a general defect in current MAVROS releases.", "rules": [ { "finding": "/mavros/battery.current", "plain_summary": "Battery status says discharging, while current has the sign reserved for charging.", "basis": "ROS BatteryState explicitly declares current negative when discharging." }, { "finding": "/mavros/battery.voltage", "plain_summary": "A present battery reports zero volts in a powered flight recording.", "basis": "Mandatory voltage plus an explicit physical plausibility check; this is not a reported hardware battery failure." }, { "finding": "/mavros/imu/mag.magnetic_field", "plain_summary": "Magnetometer values cannot be interpreted as the declared tesla units at ordinary terrestrial field strengths.", "basis": "Declared SI units plus the implemented terrestrial-field plausibility range; actual driver conversion requires investigation." } ], "healthy_control": "An IMU with orientation_covariance[0] = -1 explicitly marks orientation unmeasured. The 49,181 such recorded messages are excluded from quaternion fault checks.", "sources": { "dataset": "https://doi.org/10.1184/R1/12707963", "dataset_description": "https://www.cs.cmu.edu/~mmousaei/alfa-dataset/", "dataset_authors": [ "Azarakhsh Keipour", "Mohammadreza Mousaei", "Sebastian Scherer" ], "dataset_citation": "ALFA: A dataset for UAV fault and anomaly detection, International Journal of Robotics Research, 2021.", "battery_message": "https://github.com/ros2/common_interfaces/blob/jazzy/sensor_msgs/msg/BatteryState.msg", "magnetic_field_message": "https://github.com/ros2/common_interfaces/blob/jazzy/sensor_msgs/msg/MagneticField.msg", "imu_message": "https://github.com/ros2/common_interfaces/blob/jazzy/sensor_msgs/msg/Imu.msg" }, "implementation_sha256": { "numeric_bag_reader": "b843635384d27dd66c647c16ecdddfaacd5c17f865702268dc1b5b7916d105d3", "message_contract_rules": "b7cdf5f78415814f3bf1e428fc92b1e0070f8c1f7e24240d6e4579721d05430e", "measurement_script": "bb223a8232fcab81dfc9d9df94e8e156c29b6e48f5de1acf0102451be368fe4f" }, "sequences": [ { "sequence": "carbonZ_2018-07-18-12-10-11_no_ground_truth.bag", "recording_bytes": 15967904, "recording_sha256": "658990c999115d6064c94c905dd24cc7e2c37a2714c5e020bac08dcd55854a1d", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 4171 of 4171 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.046071392, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 4171 of 4171 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.046071392, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 319587 .. 1.50987e+06, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). NO standard scale (tesla, milli-, micro-, nanotesla, gauss, milligauss) fits -- the driver writes a unit of its own. Solving for the scale instead: one stored unit must be between 3.1e-12 and 6.6e-10 tesla for every sample to be a field on Earth.", "zeuge": [ 179.418654784, 1509867.8750142346 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 2054 }, { "sequence": "carbonZ_2018-07-18-15-53-31_1_engine_failure.bag", "recording_bytes": 10292921, "recording_sha256": "3c69125a2f29d921ad36fb333ddd4a4aeb98e5c7276447a666b20c0f84c254cc", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2692 of 2692 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.044504679, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2692 of 2692 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.044504679, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 459763 .. 548680, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.2e-12 and 1.8e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 1.460173468, 548680.2347451565 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1324 }, { "sequence": "carbonZ_2018-07-18-15-53-31_2_engine_failure.bag", "recording_bytes": 6957635, "recording_sha256": "108708e4d844f483b82089f6635522f21e34e207d3064ce47b20a4b10b1304a7", "findings": [ { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 467489 .. 542408, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.1e-12 and 1.8e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 71.352208169, 542407.5958170203 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 1800 of 1800 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.029789948, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 1800 of 1800 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.029789948, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 889 }, { "sequence": "carbonZ_2018-07-18-16-22-01_engine_failure_with_emr_traj.bag", "recording_bytes": 10274036, "recording_sha256": "6d9b900701153abff64dd9d081a940a0196f2c7da27dc3d33bfab05518133823", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2697 of 2697 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.011918071, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2697 of 2697 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.011918071, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 428171 .. 534622, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.3e-12 and 1.9e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 15.650090541, 534622.2965795572 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1325 }, { "sequence": "carbonZ_2018-07-18-16-37-39_1_no_failure.bag", "recording_bytes": 1971257, "recording_sha256": "ccfb34a9a72c677b0d1d7a7dafc8f707401b70b7c6a60c18aaefcd99fac0c936", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 624 of 624 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.005288557, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 624 of 624 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.005288557, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 460210 .. 522199, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.2e-12 and 1.9e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 8.531885562, 522199.1957098364 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 304 }, { "sequence": "carbonZ_2018-07-18-16-37-39_2_engine_failure_with_emr_traj.bag", "recording_bytes": 10147263, "recording_sha256": "e6f7f1e84d7bb887028d1b2178731fc2c9f494112ec25b468f393f4eeb67f3b7", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2659 of 2659 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.032805741, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2659 of 2659 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.032805741, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 452346 .. 542861, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.2e-12 and 1.8e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 118.705804557, 542860.9398363451 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1304 }, { "sequence": "carbonZ_2018-07-30-16-29-45_engine_failure_with_emr_traj.bag", "recording_bytes": 11020855, "recording_sha256": "ec334a3ccb8e50410a2d6fb5a6c9bb0c34a53187ab9fe6fb245180fb536043ea", "findings": [ { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 459936 .. 529254, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.2e-12 and 1.9e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 17.72237792, 529254.192236585 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2890 of 2890 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.023676992, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2890 of 2890 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.023676992, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1422 }, { "sequence": "carbonZ_2018-07-30-16-39-00_1_engine_failure.bag", "recording_bytes": 10280614, "recording_sha256": "294508976a3ded9e666c2c985cd0c2cb83618f942fff4fe9c17e4dca70255d74", "findings": [ { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 466455 .. 603332, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.1e-12 and 1.7e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 131.244477248, 603332.4125223176 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2688 of 2688 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.027997376, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2688 of 2688 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.027997376, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1316 }, { "sequence": "carbonZ_2018-07-30-16-39-00_2_engine_failure.bag", "recording_bytes": 8308032, "recording_sha256": "a518e446c89faf9562a4e83dabe64d6dbc9f084533396b4ab932f09dbd12aa22", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2154 of 2154 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.016054304, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2154 of 2154 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.016054304, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 476127 .. 638389, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.1e-12 and 1.6e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 68.688207392, 638389.379610908 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1063 }, { "sequence": "carbonZ_2018-07-30-16-39-00_3_no_failure.bag", "recording_bytes": 6199613, "recording_sha256": "d0c21d49ea3d7f64b7a375dd012a54425b7374cbe8f9b683fbac4eb1b4a8a3e0", "findings": [ { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 480992 .. 576338, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.1e-12 and 1.7e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 62.309529408, 576338.442236851 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 1601 of 1601 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.03474064, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 1601 of 1601 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.03474064, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 792 }, { "sequence": "carbonZ_2018-07-30-17-10-45_engine_failure_with_emr_traj.bag", "recording_bytes": 10358610, "recording_sha256": "ae1cc234df156e78505c05b4e213660c757ca1dd0417b266996942c97562965d", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2686 of 2686 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.021558385, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2686 of 2686 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.021558385, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 458207 .. 498604, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.2e-12 and 2e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 16.138330488, 498604.05132730317 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1332 }, { "sequence": "carbonZ_2018-07-30-17-20-01_engine_failure_with_emr_traj.bag", "recording_bytes": 8295352, "recording_sha256": "84f544ae7b960e567fe993d05407a23fb8e712aca866b98b75cf70944c79599e", "findings": [ { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 462506 .. 501790, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.2e-12 and 2e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 16.336899455, 501789.7966280303 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2152 of 2152 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.038797944, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2152 of 2152 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.038797944, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1066 }, { "sequence": "carbonZ_2018-07-30-17-36-35_engine_failure_with_emr_traj.bag", "recording_bytes": 12101962, "recording_sha256": "a52d40c7577f7671c27e86bab374c5b4088086a1b0e125b4a44817307828880b", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 3175 of 3175 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.000941406, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 3175 of 3175 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.000941406, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 425410 .. 591552, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.4e-12 and 1.7e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 40.943066755, 591552.1954992644 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1570 }, { "sequence": "carbonZ_2018-07-30-17-46-31_engine_failure_with_emr_traj.bag", "recording_bytes": 8739153, "recording_sha256": "333421e49d7773d454b512e7bf7aca04674d6fcef7e958c129e443223cd15d95", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2272 of 2272 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.014254901, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2272 of 2272 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.014254901, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 449535 .. 603126, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.2e-12 and 1.7e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 15.237099213, 603126.0233151941 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1127 }, { "sequence": "carbonZ_2018-09-11-11-56-30_engine_failure.bag", "recording_bytes": 9731781, "recording_sha256": "1bd23c6001ea98cffad82e625ba74c6c9a8f044230de1fe6aa737f18420f35dd", "findings": [ { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 361338 .. 3.04859e+06, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). NO standard scale (tesla, milli-, micro-, nanotesla, gauss, milligauss) fits -- the driver writes a unit of its own. Solving for the scale instead: one stored unit must be between 2.8e-12 and 3.3e-10 tesla for every sample to be a field on Earth.", "zeuge": [ 102.460505312, 3048591.3140334175 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2542 of 2542 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.052082912, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2542 of 2542 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.052082912, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1244 }, { "sequence": "carbonZ_2018-09-11-14-16-55_no_failure.bag", "recording_bytes": 2189274, "recording_sha256": "a7e27202bec086b3a03f6621df7ea8a32d3ab79050a6305531474ea5e65b522f", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 689 of 689 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.005880392, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 689 of 689 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.005880392, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 418686 .. 590042, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.4e-12 and 1.7e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 11.838337927, 590041.5239625089 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 334 }, { "sequence": "carbonZ_2018-09-11-14-22-07_1_engine_failure.bag", "recording_bytes": 8836427, "recording_sha256": "28ba7b8e4155ee079798b960fdb50b629b22aea98a1f273fe8acfc3221843dd5", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2295 of 2295 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.036105934, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2295 of 2295 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.036105934, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 435024 .. 611334, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.3e-12 and 1.6e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 113.031860435, 611333.7877133898 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1142 }, { "sequence": "carbonZ_2018-09-11-14-22-07_2_engine_failure.bag", "recording_bytes": 4881723, "recording_sha256": "85bac77c1388f0787a3d3f2c262cbaa2e700a8190b0f01248cdf52d29be2495a", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 1248 of 1248 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.027826655, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 1248 of 1248 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.027826655, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 425962 .. 606680, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.3e-12 and 1.6e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 50.076804567, 606680.3112018718 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 623 }, { "sequence": "carbonZ_2018-09-11-14-41-38_no_failure.bag", "recording_bytes": 2781564, "recording_sha256": "e93709046353a044c86befac64148bcbd5d183f7e6307e664478bb2407291c69", "findings": [ { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 412990 .. 2.8274e+06, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). NO standard scale (tesla, milli-, micro-, nanotesla, gauss, milligauss) fits -- the driver writes a unit of its own. Solving for the scale instead: one stored unit must be between 2.4e-12 and 3.5e-10 tesla for every sample to be a field on Earth.", "zeuge": [ 40.403891648, 2827402.518213493 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 891 of 891 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.071468832, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 891 of 891 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.071468832, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 433 }, { "sequence": "carbonZ_2018-09-11-14-41-51_elevator_failure.bag", "recording_bytes": 10092640, "recording_sha256": "e76c07243ba7daa06464cd50baf9b1e86a5e123585bd55ea07a771719d99d37c", "findings": [ { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 492494 .. 3.76956e+06, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). NO standard scale (tesla, milli-, micro-, nanotesla, gauss, milligauss) fits -- the driver writes a unit of its own. Solving for the scale instead: one stored unit must be between 2e-12 and 2.7e-10 tesla for every sample to be a field on Earth.", "zeuge": [ 109.033833536, 3769563.5025822287 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2636 of 2636 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.043763872, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2636 of 2636 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.043763872, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1285 }, { "sequence": "carbonZ_2018-09-11-14-52-54_left_aileron__right_aileron__failure.bag", "recording_bytes": 18039531, "recording_sha256": "c5e93c3ec1b67ce943673319da3fd53ae7591bd101c25435d005f073d5dc8578", "findings": [ { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 452824 .. 2.8053e+06, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). NO standard scale (tesla, milli-, micro-, nanotesla, gauss, milligauss) fits -- the driver writes a unit of its own. Solving for the scale instead: one stored unit must be between 2.2e-12 and 3.6e-10 tesla for every sample to be a field on Earth.", "zeuge": [ 30.017705728, 2805298.3798519545 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 4721 of 4721 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.006716864, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 4721 of 4721 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.006716864, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 2334 }, { "sequence": "carbonZ_2018-09-11-15-05-11_1_elevator_failure.bag", "recording_bytes": 6017819, "recording_sha256": "969f54a8a5b518c48eb50821fce3bebf35888b687a2df5248ff6b3f81f57a002", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 1544 of 1544 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.0343872, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 1544 of 1544 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.0343872, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 422652 .. 1.41991e+06, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). NO standard scale (tesla, milli-, micro-, nanotesla, gauss, milligauss) fits -- the driver writes a unit of its own. Solving for the scale instead: one stored unit must be between 2.4e-12 and 7e-10 tesla for every sample to be a field on Earth.", "zeuge": [ 52.611342176, 1419911.6169677605 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 762 }, { "sequence": "carbonZ_2018-09-11-15-05-11_2_no_failure.bag", "recording_bytes": 5350215, "recording_sha256": "3ea428a49cd70f0fe54705b040181b4e72b4e15df8e84ae7a275b435fb52193b", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 1366 of 1366 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.000974272, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 1366 of 1366 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.000974272, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 513321 .. 806905, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 1.9e-12 and 1.2e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 0.900480032, 806905.198892658 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 675 }, { "sequence": "carbonZ_2018-09-11-15-06-34_1_rudder_right_failure.bag", "recording_bytes": 5566371, "recording_sha256": "3683313179d316b1956a03848f7421aa2b5375ca82f6a49cb50e90da990c73ca", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 1440 of 1440 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.002767488, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 1440 of 1440 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.002767488, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 484790 .. 3.87117e+06, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). NO standard scale (tesla, milli-, micro-, nanotesla, gauss, milligauss) fits -- the driver writes a unit of its own. Solving for the scale instead: one stored unit must be between 2.1e-12 and 2.6e-10 tesla for every sample to be a field on Earth.", "zeuge": [ 62.68063072, 3871171.1406239844 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 703 }, { "sequence": "carbonZ_2018-09-11-15-06-34_2_rudder_right_failure.bag", "recording_bytes": 5314782, "recording_sha256": "d52fb5c81423c9584e4fa665bbee48716381f0070ee4eef9fbb1d2ca28f4da71", "findings": [ { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 490030 .. 3.96926e+06, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). NO standard scale (tesla, milli-, micro-, nanotesla, gauss, milligauss) fits -- the driver writes a unit of its own. Solving for the scale instead: one stored unit must be between 2e-12 and 2.5e-10 tesla for every sample to be a field on Earth.", "zeuge": [ 66.450199776, 3969263.659672912 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 1413 of 1413 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.052677472, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 1413 of 1413 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.052677472, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 693 }, { "sequence": "carbonZ_2018-09-11-15-06-34_3_rudder_left_failure.bag", "recording_bytes": 4405996, "recording_sha256": "faa271193b435e4162ae8caf6898c1398fd8f947b6042fc2a10e6605195918bc", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 1429 of 1429 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.049878368, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 1429 of 1429 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.049878368, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 935888 .. 3.89069e+06, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). NO standard scale (tesla, milli-, micro-, nanotesla, gauss, milligauss) fits -- the driver writes a unit of its own. Solving for the scale instead: one stored unit must be between 1.1e-12 and 2.6e-10 tesla for every sample to be a field on Earth.", "zeuge": [ 63.564669536, 3890687.7284099786 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 694 }, { "sequence": "carbonZ_2018-09-11-17-27-13_1_rudder_zero__left_aileron_failure.bag", "recording_bytes": 11317770, "recording_sha256": "0f2fc74b70788fef0ac0600ec0baa297c649a32fdc420d260030b81e6399ca23", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2952 of 2952 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.008407658, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2952 of 2952 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.008407658, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 475236 .. 626991, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.1e-12 and 1.6e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 115.453585526, 626991.2280088136 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1435 }, { "sequence": "carbonZ_2018-09-11-17-27-13_2_both_ailerons_failure.bag", "recording_bytes": 8051834, "recording_sha256": "f9fba60abc0c7d075dd94f83ad559e4ae50d601f320cf95e17a10f99bbf79d5b", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2095 of 2095 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.040025625, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2095 of 2095 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.040025625, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 446860 .. 714393, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.2e-12 and 1.4e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 88.817324393, 714392.7491233376 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1016 }, { "sequence": "carbonZ_2018-09-11-17-55-30_1_right_aileron_failure.bag", "recording_bytes": 10530377, "recording_sha256": "f8324144fc23bdda9d539fc240748bc33a7178cf098936a2579fc240a2fb4ec2", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2747 of 2747 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.007421515, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2747 of 2747 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.007421515, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 185327 .. 1.20864e+06, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). NO standard scale (tesla, milli-, micro-, nanotesla, gauss, milligauss) fits -- the driver writes a unit of its own. Solving for the scale instead: one stored unit must be between 5.4e-12 and 8.3e-10 tesla for every sample to be a field on Earth.", "zeuge": [ 10.216941825, 1208640.9723321479 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1332 }, { "sequence": "carbonZ_2018-09-11-17-55-30_2_left_aileron_failure.bag", "recording_bytes": 6461419, "recording_sha256": "47421d365d25b61e8ae8ee94d4f3a6bce35d743057ee67394a10201ad67752bc", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 1667 of 1667 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.021073231, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 1667 of 1667 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.021073231, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 209840 .. 1.59362e+06, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). NO standard scale (tesla, milli-, micro-, nanotesla, gauss, milligauss) fits -- the driver writes a unit of its own. Solving for the scale instead: one stored unit must be between 4.8e-12 and 6.3e-10 tesla for every sample to be a field on Earth.", "zeuge": [ 1.31539597, 1593619.7789937223 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 815 }, { "sequence": "carbonZ_2018-10-05-14-34-20_1_no_failure.bag", "recording_bytes": 4220842, "recording_sha256": "1a087c65e8ddbddb9e10344b8e73a8c12527ca5aeeb72de4ab23ae76f70eee7b", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 1371 of 1371 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 3.9296e-05, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 1371 of 1371 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 3.9296e-05, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 470410 .. 642053, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.1e-12 and 1.6e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 22.717369408, 642052.9573173851 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 668 }, { "sequence": "carbonZ_2018-10-05-14-34-20_2_right_aileron_failure_with_emr_traj.bag", "recording_bytes": 12645072, "recording_sha256": "3fc34bda0ca6da597a8ccf2566d361cd927eec767149f567d091a368e03c3a32", "findings": [ { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 473007 .. 671378, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.1e-12 and 1.5e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 92.1549336, 671378.4327784145 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 3311 of 3311 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.007958528, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 3311 of 3311 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.007958528, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1623 }, { "sequence": "carbonZ_2018-10-05-14-37-22_1_no_failure.bag", "recording_bytes": 4600690, "recording_sha256": "b3460208ca90c2dcaaf286298a13d41d9652caeec37844abcf62d191b081dd7c", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 1482 of 1482 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.00461872, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 1482 of 1482 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.00461872, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 218383 .. 987950, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 4.6e-12 and 1e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 36.648279232, 987950.4036134607 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 727 }, { "sequence": "carbonZ_2018-10-05-14-37-22_2_right_aileron_failure.bag", "recording_bytes": 11392008, "recording_sha256": "843469a68168a55d677e3569c09fe38f20772d357af833974cbb43e1ca8a7df5", "findings": [ { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 189124 .. 850969, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 5.3e-12 and 1.2e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 112.196838176, 850968.8595947563 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2947 of 2947 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.008665568, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2947 of 2947 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.008665568, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1450 }, { "sequence": "carbonZ_2018-10-05-14-37-22_3_left_aileron_failure.bag", "recording_bytes": 7593111, "recording_sha256": "ac5cf020f20bc2a044f0ce60369c80d25ce688bc460184f01b0ae5f1bd748c27", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 1959 of 1959 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.003914176, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 1959 of 1959 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.003914176, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 260803 .. 844036, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 3.8e-12 and 1.2e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 40.106644704, 844036.1366671453 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 965 }, { "sequence": "carbonZ_2018-10-05-15-52-12_1_no_failure.bag", "recording_bytes": 7029685, "recording_sha256": "9926267c5ddc9b86f4d5a4fa11174ae2be06a7b595bbb81ca38195bbe57b681f", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 1814 of 1814 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 4.736e-05, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 1814 of 1814 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 4.736e-05, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 453110 .. 635001, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.2e-12 and 1.6e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 27.806472416, 635000.7874010867 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 896 }, { "sequence": "carbonZ_2018-10-05-15-52-12_2_no_failure.bag", "recording_bytes": 3836889, "recording_sha256": "136b5d1b3440e85eb84470ad4c69cd55dec9cf100e516170a995ca9c436551e3", "findings": [ { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 467381 .. 634500, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.1e-12 and 1.6e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 38.700080288, 634499.8029944532 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 970 of 970 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.06790192, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 970 of 970 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.06790192, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 485 }, { "sequence": "carbonZ_2018-10-05-15-52-12_3_engine_failure_with_emr_traj.bag", "recording_bytes": 5252942, "recording_sha256": "d65a30c8c481efc8ea9ee7a2f55314950f99f1c795c302692b259b9f2fc45dd2", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 1356 of 1356 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.033921536, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 1356 of 1356 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.033921536, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 451111 .. 633008, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.2e-12 and 1.6e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 0.049359264, 633007.8988448723 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 666 }, { "sequence": "carbonZ_2018-10-05-15-55-10_engine_failure_with_emr_traj.bag", "recording_bytes": 8931075, "recording_sha256": "74f6436a9c9a3e528798440cb1caf965195774ed70029b2767cc2ef23dd11ef0", "findings": [ { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 344988 .. 854008, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 2.9e-12 and 1.2e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 36.156059616, 854007.6112073007 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2332 of 2332 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.040336096, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2332 of 2332 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.040336096, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1133 }, { "sequence": "carbonZ_2018-10-05-16-04-46_engine_failure_with_emr_traj.bag", "recording_bytes": 7218237, "recording_sha256": "4436d09f034d2f5cb87c83479603c0606997d0f7d283d72962560cab522db801", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 1872 of 1872 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.000432768, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 1872 of 1872 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.000432768, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 371798 .. 1.09662e+06, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). NO standard scale (tesla, milli-, micro-, nanotesla, gauss, milligauss) fits -- the driver writes a unit of its own. Solving for the scale instead: one stored unit must be between 2.7e-12 and 9.1e-10 tesla for every sample to be a field on Earth.", "zeuge": [ 14.430150368, 1096622.5421721004 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 923 }, { "sequence": "carbonZ_2018-10-18-11-03-57_engine_failure_with_emr_traj.bag", "recording_bytes": 9135158, "recording_sha256": "caae58f15c10140c39a772c23ee90a93e4424e1af8fd2d6c79ebd5252807b7ab", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2378 of 2378 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.0238176, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2378 of 2378 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.0238176, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 503183 .. 2.9228e+06, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). NO standard scale (tesla, milli-, micro-, nanotesla, gauss, milligauss) fits -- the driver writes a unit of its own. Solving for the scale instead: one stored unit must be between 2e-12 and 3.4e-10 tesla for every sample to be a field on Earth.", "zeuge": [ 104.168588512, 2922803.790882994 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1164 }, { "sequence": "carbonZ_2018-10-18-11-04-00_engine_failure_with_emr_traj.bag", "recording_bytes": 9645044, "recording_sha256": "dbd4d8549f651629b3464e4a35b5b716b583680800c199d1682e75371604a5bc", "findings": [ { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 103470 .. 541976, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). The scales that WOULD fit are nanotesla. Solving for the scale instead: one stored unit must be between 9.7e-12 and 1.8e-09 tesla for every sample to be a field on Earth.", "zeuge": [ 90.2934872, 541976.0142294122 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2517 of 2517 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.048076704, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2517 of 2517 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.048076704, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1226 }, { "sequence": "carbonZ_2018-10-18-11-04-08_1_engine_failure_with_emr_traj.bag", "recording_bytes": 9004086, "recording_sha256": "7a720557e68ea94925062a769a90989fed4840ee9c1bf5711e1a913c5f3ecc09", "findings": [ { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 349923 .. 1.29752e+06, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). NO standard scale (tesla, milli-, micro-, nanotesla, gauss, milligauss) fits -- the driver writes a unit of its own. Solving for the scale instead: one stored unit must be between 2.9e-12 and 7.7e-10 tesla for every sample to be a field on Earth.", "zeuge": [ 79.61346704, 1297519.1713419883 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2351 of 2351 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.056179584, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2351 of 2351 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.056179584, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1147 }, { "sequence": "carbonZ_2018-10-18-11-04-08_2_engine_failure_with_emr_traj.bag", "recording_bytes": 9287800, "recording_sha256": "d4252a3cc8232922f75eecffa2b58589e8d989e26251df6106147d29693be03c", "findings": [ { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 366547 .. 1.30613e+06, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). NO standard scale (tesla, milli-, micro-, nanotesla, gauss, milligauss) fits -- the driver writes a unit of its own. Solving for the scale instead: one stored unit must be between 2.7e-12 and 7.7e-10 tesla for every sample to be a field on Earth.", "zeuge": [ 34.496739936, 1306129.3963463192 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2428 of 2428 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.04427136, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2428 of 2428 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.04427136, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1179 }, { "sequence": "carbonZ_2018-10-18-11-04-35_engine_failure_with_emr_traj.bag", "recording_bytes": 8589243, "recording_sha256": "1eccdcfa306036ac37e456fc30d9ebd05042e86db4c6227fd8e1bcc28d723027", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2233 of 2233 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.01338064, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2233 of 2233 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.01338064, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 383072 .. 1.11284e+06, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). NO standard scale (tesla, milli-, micro-, nanotesla, gauss, milligauss) fits -- the driver writes a unit of its own. Solving for the scale instead: one stored unit must be between 2.6e-12 and 9e-10 tesla for every sample to be a field on Earth.", "zeuge": [ 68.785013536, 1112836.9152755493 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1092 }, { "sequence": "carbonZ_2018-10-18-11-06-06_engine_failure_with_emr_traj.bag", "recording_bytes": 9249923, "recording_sha256": "99880903e053e18af5f8a361afef702296f9d0a89540e06afff2b4d3cc1a6ff8", "findings": [ { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 2411 of 2411 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.009224544, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 2411 of 2411 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.009224544, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" }, { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 428639 .. 3.01129e+06, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). NO standard scale (tesla, milli-, micro-, nanotesla, gauss, milligauss) fits -- the driver writes a unit of its own. Solving for the scale instead: one stored unit must be between 2.3e-12 and 3.3e-10 tesla for every sample to be a field on Earth.", "zeuge": [ 90.647151136, 3011285.107723943 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 1165 }, { "sequence": "carbonZ_2018-10-18-11-08-24_no_failure.bag", "recording_bytes": 2160953, "recording_sha256": "cc8aa0daa699a05e854a5113110cab6311f6ad48a9601d22b368ec8f1c9e9bdf", "findings": [ { "topic": "/mavros/imu/mag", "typ": "sensor_msgs/msg/MagneticField", "feld": "magnetic_field", "art": "einheit", "satz": "the definition says 'components of the field vector in Tesla'; the field MAGNITUDE ranges 256064 .. 1.70132e+06, which in tesla is no field on Earth (Earth's field at the surface is about 25 to 65 microtesla (World Magnetic Model / IGRF); widened to 1 uT .. 1 mT for a magnetometer mounted near motors). NO standard scale (tesla, milli-, micro-, nanotesla, gauss, milligauss) fits -- the driver writes a unit of its own. Solving for the scale instead: one stored unit must be between 3.9e-12 and 5.9e-10 tesla for every sample to be a field on Earth.", "zeuge": [ 8.435703552, 1701323.3084866614 ], "zitat": "x, y, and z components of the field vector in Tesla", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "current", "art": "regel", "satz": "the definition says 'Negative when discharging', and in 543 of 543 messages that report power_supply_status = DISCHARGING the current is POSITIVE. Two fields of one message contradict each other", "zeuge": [ 0.01139296, 0.009999999776482582 ], "zitat": "Negative when discharging (A) (If unmeasured NaN)", "beweis": "" }, { "topic": "/mavros/battery", "typ": "sensor_msgs/msg/BatteryState", "feld": "voltage", "art": "physik", "satz": "the definition says 'Voltage in Volts (Mandatory)', the same message says present = true, and 543 of 543 messages report less than 0.9 V -- below the discharge floor of any battery chemistry (NiMH/NiCd ~0.9 V per cell, lithium ~2.5 V). The driver fills a mandatory field without a measurement", "zeuge": [ 0.01139296, 0.0 ], "zitat": "Voltage in Volts (Mandatory)", "beweis": "" } ], "unmeasured_orientation_samples_correctly_ignored": 264 } ] }