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change gyro & accel dt from float to uint64. This has the benefit of

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calculating the estimator timeslip correctly.

Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com>
This commit is contained in:
Nicolae Rosia
2017-07-12 17:38:35 +03:00
committed by Lorenz Meier
parent 5618f34f3b
commit 0a22a9c47c
6 changed files with 25 additions and 23 deletions
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msg/ekf2_replay.msg
+2 -2
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@@ -1,6 +1,6 @@
float32 gyro_integral_dt # gyro integration period in s
float32 accelerometer_integral_dt # accelerometer integration period in s
uint64 gyro_integral_dt # gyro integration period in s
uint64 accelerometer_integral_dt # accelerometer integration period in s
uint64 magnetometer_timestamp # timestamp of magnetometer measurement in us
uint64 baro_timestamp # timestamp of barometer measurement in us
uint64 rng_timestamp # timestamp of range finder measurement in us
msg/sensor_combined.msg
+2 -2
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@@ -10,11 +10,11 @@ int32 RELATIVE_TIMESTAMP_INVALID = 2147483647 # (0x7fffffff) If one of the relat
# gyro timstamp is equal to the timestamp of the message
float32[3] gyro_rad # average angular rate measured in the XYZ body frame in rad/s over the last gyro sampling period
float32 gyro_integral_dt # gyro measurement sampling period in s
uint64 gyro_integral_dt # gyro measurement sampling period in s
int32 accelerometer_timestamp_relative # timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
float32[3] accelerometer_m_s2 # average value acceleration measured in the XYZ body frame in m/s/s over the last accelerometer sampling period
float32 accelerometer_integral_dt # accelerometer measurement sampling period in s
uint64 accelerometer_integral_dt # accelerometer measurement sampling period in s
int32 magnetometer_timestamp_relative # timestamp + magnetometer_timestamp_relative = Magnetometer timestamp
float32[3] magnetometer_ga # Magnetic field in NED body frame, in Gauss