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ekf2: add simple odometry ENU frame support

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Daniel Agar
2022-12-09 14:33:44 -05:00
parent 8cf13d50a8
commit 45d31893e7
2 changed files with 42 additions and 13 deletions
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msg/VehicleOdometry.msg
+11 -9
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@@ -3,18 +3,20 @@ uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample
uint8 POSE_FRAME_UNKNOWN = 0
uint8 POSE_FRAME_NED = 1 # NED earth-fixed frame
uint8 POSE_FRAME_FRD = 2 # FRD world-fixed frame, arbitrary heading reference
uint8 pose_frame # Position and orientation frame of reference
uint8 POSE_FRAME_NED = 1 # NED earth-fixed frame (x: North, y: East, z: Down)
uint8 POSE_FRAME_FRD = 2 # FRD world-fixed frame, arbitrary heading reference (x: Forward, y: Right, z: Down)
uint8 POSE_FRAME_ENU = 3 # ENU earth-fixed frame (x: East, y: North, z: Up)
uint8 pose_frame # Position and orientation frame of reference
float32[3] position # Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown
float32[4] q # Quaternion rotation from FRD body frame to reference frame. First value NaN if invalid/unknown
float32[3] position # Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown
float32[4] q # Quaternion rotation from FRD body frame to reference frame. First value NaN if invalid/unknown
uint8 VELOCITY_FRAME_UNKNOWN = 0
uint8 VELOCITY_FRAME_NED = 1 # NED earth-fixed frame
uint8 VELOCITY_FRAME_FRD = 2 # FRD world-fixed frame, arbitrary heading reference
uint8 VELOCITY_FRAME_BODY_FRD = 3 # FRD body-fixed frame
uint8 velocity_frame # Reference frame of the velocity data
uint8 VELOCITY_FRAME_NED = 1 # NED earth-fixed frame (x: North, y: East, z: Down)
uint8 VELOCITY_FRAME_FRD = 2 # FRD world-fixed frame, arbitrary heading reference (x: Forward, y: Right, z: Down)
uint8 VELOCITY_FRAME_BODY_FRD = 3 # FRD body-fixed frame (x: Forward, y: Right, z: Down)
uint8 VELOCITY_FRAME_ENU = 4 # ENU earth-fixed frame (x: East, y: North, z: Up)
uint8 velocity_frame # Reference frame of the velocity data
float32[3] velocity # Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown