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msg: add gyro biases to control state message

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Paul Riseborough
2017-01-19 19:24:52 +01:00
committed by Lorenz Meier
parent da87e3eb0a
commit 28488cfcd0
1 changed files with 7 additions and 4 deletions
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msg/control_state.msg
+7 -4
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@@ -19,7 +19,10 @@ float32[3] pos_variance # Variance in local position estimate
float32[4] q # Attitude Quaternion float32[4] q # Attitude Quaternion
float32[4] delta_q_reset # Amount by which quaternion has changed during last reset float32[4] delta_q_reset # Amount by which quaternion has changed during last reset
uint8 quat_reset_counter # Quaternion reset counter uint8 quat_reset_counter # Quaternion reset counter
float32 roll_rate # Roll body angular rate (rad/s, x forward/y right/z down) float32 roll_rate # Roll body angular rate (rad/s, x forward/y right/z down) - corrected for bias
float32 pitch_rate # Pitch body angular rate (rad/s, x forward/y right/z down) float32 pitch_rate # Pitch body angular rate (rad/s, x forward/y right/z down) - corrected for bias
float32 yaw_rate # Yaw body angular rate (rad/s, x forward/y right/z down) float32 yaw_rate # Yaw body angular rate (rad/s, x forward/y right/z down) - corrected for bias
float32 horz_acc_mag # low pass filtered magnitude of the horizontal acceleration float32 horz_acc_mag # low pass filtered magnitude of the horizontal acceleration
float32 roll_rate_bias # Roll body angular rate bias (rad/s, x forward) - subtract from uncorrected gyro data
float32 pitch_rate_bias # Pitch body angular rate bias (rad/s, y right) - subtract from uncorrected gyro data
float32 yaw_rate_bias # Yaw body angular rate bias (rad/s, z down) - subtract from uncorrected gyro data