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Support odometry velocity in body and local frame (#14703)

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* Update submodule ECL

* increase lower bound on EVV param
This commit is contained in:
kritz
2020-05-13 12:43:02 +02:00
committed by GitHub
parent 8804dae480
commit 3897030c6f
8 changed files with 86 additions and 69 deletions
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msg/vehicle_odometry.msg
+5 -1
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@@ -21,6 +21,7 @@ uint8 COVARIANCE_MATRIX_YAWRATE_VARIANCE=20
uint8 LOCAL_FRAME_NED=0 # NED earth-fixed frame
uint8 LOCAL_FRAME_FRD=1 # FRD earth-fixed frame, arbitrary heading reference
uint8 LOCAL_FRAME_OTHER=2 # Not aligned with the std frames of reference
uint8 BODY_FRAME_FRD=3 # FRD body-fixed frame
# Position and linear velocity local frame of reference
uint8 local_frame
@@ -41,7 +42,10 @@ float32[4] q_offset # Quaternion rotation from odometry reference frame to navi
# If orientation covariance invalid/unknown, 16th cell is NaN
float32[21] pose_covariance
# Velocity in meters/sec. Frame of reference defined by local_frame. NaN if invalid/unknown
# Reference frame of the velocity data
uint8 velocity_frame
# Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown
float32 vx # North velocity
float32 vy # East velocity
float32 vz # Down velocity