From 0ed78f259eff1c25279d22719f583f843781c122 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Tue, 19 Sep 2017 10:01:50 +1000
Subject: [PATCH] msg: Add estimator required control limits to
 vehicle_local_positiion

---
 msg/vehicle_local_position.msg | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/msg/vehicle_local_position.msg b/msg/vehicle_local_position.msg
index 6ad65e6d10..2d8aad2160 100644
--- a/msg/vehicle_local_position.msg
+++ b/msg/vehicle_local_position.msg
@@ -55,4 +55,8 @@ float32 epv				# Standard deviation of vertical position error, (metres)
 float32 evh				# Standard deviation of horizontal velocity error, (metres/sec)
 float32 evv				# Standard deviation of horizontal velocity error, (metres/sec)
 
+# estimator specified vehicle limits
+float32 vxy_max				# maximum horizontal speed - set to 0 when not applicable (metres/sec)
+bool limit_hagl				# true when the height above ground needs to be limited to observe optical flow focus and range finder limits
+
 # TOPICS vehicle_local_position vehicle_local_position_groundtruth vehicle_vision_position