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clean up vehicle attitude message

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tumbili 2016-04-20 17:50:48 +02:00 committed by Lorenz Meier
parent 78c52be08c
commit 215bfaa377
1 changed files with 4 additions and 18 deletions
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msg/vehicle_attitude.msg
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@ -1,22 +1,8 @@
# This is similar to the mavlink message ATTITUDE, but for onboard use */
# @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional
float32 roll # Roll angle (rad, Tait-Bryan, NED)
float32 pitch # Pitch angle (rad, Tait-Bryan, NED)
float32 yaw # Yaw angle (rad, Tait-Bryan, NED)
float32 rollspeed # Roll body angular rate (rad/s, x forward/y right/z down)
float32 pitchspeed # Pitch body angular rate (rad/s, x forward/y right/z down)
float32 yawspeed # Yaw body angular rate (rad/s, x forward/y right/z down)
float32 rollacc # Roll angular accelration (rad/s^2, x forward/y right/z down)
float32 pitchacc # Pitch angular acceleration (rad/s^2, x forward/y right/z down)
float32 yawacc # Yaw angular acceleration (rad/s^2, x forward/y right/z down)
float32 rate_vibration # Value between 0 and 1 indicating vibration. A value of 0 means no vibration, a value of 1 indicates unbearable vibration levels.
float32 accel_vibration # Value between 0 and 1 indicating vibration. A value of 0 means no vibration, a value of 1 indicates unbearable vibration levels.
float32 mag_vibration # Value between 0 and 1 indicating vibration. A value of 0 means no vibration, a value of 1 indicates unbearable vibration levels.
float32[3] rate_offsets # Offsets of the body angular rates from zero
float32[9] R # Rotation matrix, body to world, (Tait-Bryan, NED)
uint64 timestamp # in microseconds since system start
float32 rollspeed # Angular velocity about body north axis (x) in rad/s
float32 pitchspeed # Angular velocity about body east axis (y) in rad/s
float32 yawspeed # Angular velocity about body down axis (z) in rad/s
float32[4] q # Quaternion (NED)
float32[3] g_comp # Compensated gravity vector
bool R_valid # Rotation matrix valid
bool q_valid # Quaternion valid
# TOPICS vehicle_attitude vehicle_attitude_groundtruth