From 61ef6b22550d2f8d86f1864c3a4056099d7dbd21 Mon Sep 17 00:00:00 2001 From: Azarakhsh Keipour Date: Wed, 5 Aug 2020 21:59:18 -0400 Subject: [PATCH] Omni: Added a new message type to record omni-directional attitude generation status --- msg/CMakeLists.txt | 1 + msg/omni_attitude_status.msg | 14 ++++++++++++++ 2 files changed, 15 insertions(+) create mode 100644 msg/omni_attitude_status.msg diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt index 62ae55e38a..d2a6358716 100644 --- a/msg/CMakeLists.txt +++ b/msg/CMakeLists.txt @@ -82,6 +82,7 @@ set(msg_files mount_orientation.msg multirotor_motor_limits.msg obstacle_distance.msg + omni_attitude_status.msg offboard_control_mode.msg onboard_computer_status.msg optical_flow.msg diff --git a/msg/omni_attitude_status.msg b/msg/omni_attitude_status.msg new file mode 100644 index 0000000000..34b0eb4351 --- /dev/null +++ b/msg/omni_attitude_status.msg @@ -0,0 +1,14 @@ +uint64 timestamp # time since system start (microseconds) + +float32 att_mode # attitude modes as defined in OMNI_ATT_MODE parameter + +float32 tilt_angle_est # estimated optimal tilt angle of the robot in rad +float32 tilt_angle_meas # measured tilt angle of the robot in rad + +float32 tilt_direction_est # estimated optimal tilt direction in local NED frame +float32 tilt_direction_meas # tilt direction in local NED frame + +float32 tilt_roll_est # estimated optimal roll angle of the robot in rad +float32 tilt_pitch_est # estimated optimal pitch angle of the robot in rad + +# TOPICS omni_attitude_status