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estimator messages add explicit timestamp_sample

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- timestamp is uORB publication metadata
 - this allows us to see what the system saw at publication time plus the latency in estimation
This commit is contained in:
Daniel Agar
2020-09-04 10:48:26 -04:00
parent 09666c324f
commit 20c2fe6d28
12 changed files with 64 additions and 30 deletions
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msg/vehicle_attitude.msg
+2
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@@ -2,6 +2,8 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
float32[4] q # Quaternion rotation from XYZ body frame to NED earth frame.
float32[4] delta_q_reset # Amount by which quaternion has changed during last reset
uint8 quat_reset_counter # Quaternion reset counter