fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-28 07:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

estimator messages add explicit timestamp_sample

Browse Source 
- 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
Download Patch File Download Diff File Expand all files Collapse all files
msg/yaw_estimator_status.msg
+4 -1
View File
@@ -1,6 +1,9 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
float32 yaw_composite # composite yaw from GSF (rad)
float32 yaw_variance # composite yaw variance from GSF (rad^2)
float32[5] yaw # yaw estimate for each model in the filter bank (rad)
float32[5] innov_vn # North velocity innovation for each model in the filter bank (m/s)
float32[5] innov_ve # East velocity innovation for each model in the filter bank (m/s)