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mavlink_receiver : Add external estimator interface

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This commit is contained in:
Kabir Mohammed
2017-02-15 21:47:51 +01:00
committed by Lorenz Meier
parent 75f6b4eb0c
commit 569251dc2e
5 changed files with 122 additions and 4 deletions
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msg/vehicle_attitude.msg
+1 -1
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@@ -4,4 +4,4 @@ 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)
# TOPICS vehicle_attitude vehicle_attitude_groundtruth
# TOPICS vehicle_attitude vehicle_attitude_groundtruth vehicle_vision_attitude
msg/vehicle_local_position.msg
+14 -1
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@@ -1,5 +1,13 @@
# Fused local position in NED.
uint8 ESTIMATOR_TYPE_NAIVE = 1 # Estimator without real covariance feedback
uint8 ESTIMATOR_TYPE_VISION = 2 # Computer vision based estimate. Might be up to scale.
uint8 ESTIMATOR_TYPE_VIO = 3 # Visual-Inertial estimator.
uint8 ESTIMATOR_TYPE_GPS = 4 # Plain GPS estimate.
uint8 ESTIMATOR_TYPE_GPS_INS = 5 # Estimator integrating GPS and inertial sensing.
uint8 estimator_type # type of estimator according to above types
bool xy_valid # true if x and y are valid
bool z_valid # true if z is valid
bool v_xy_valid # true if vy and vy are valid
@@ -28,6 +36,11 @@ uint8 z_reset_counter
uint8 vxy_reset_counter
uint8 vz_reset_counter
# Acceleration in NED frame
float32 ax # North acceleration in NED earth-fixed frame, (metres/sec^2)
float32 ay # East acceleration in NED earth-fixed frame, (metres/sec^2)
float32 az # Down acceleration in NED earth-fixed frame, (metres/sec^2)
# Heading
float32 yaw # Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians)
@@ -47,4 +60,4 @@ bool dist_bottom_valid # true if distance to bottom surface is valid
float32 eph # Standard deviation of horizontal position error, (metres)
float32 epv # Standard deviation of vertical position error, (metres)
# TOPICS vehicle_local_position vehicle_local_position_groundtruth
# TOPICS vehicle_local_position vehicle_local_position_groundtruth vehicle_vision_position