From 215bfaa377b0367263d31d424490a293fc0e44af Mon Sep 17 00:00:00 2001 From: tumbili Date: Wed, 20 Apr 2016 17:50:48 +0200 Subject: [PATCH] clean up vehicle attitude message --- msg/vehicle_attitude.msg | 22 ++++------------------ 1 file changed, 4 insertions(+), 18 deletions(-) diff --git a/msg/vehicle_attitude.msg b/msg/vehicle_attitude.msg index a7d02ac963..2c38af5c0a 100644 --- a/msg/vehicle_attitude.msg +++ b/msg/vehicle_attitude.msg @@ -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