From 67eed88767afa59e2e4f6ee263c152977b2c5b3e Mon Sep 17 00:00:00 2001 From: Roman Date: Tue, 12 Jan 2016 07:31:44 +0100 Subject: [PATCH] added message for ekf2 innovations message --- msg/ekf2_innovations.msg | 7 +++++++ src/modules/uORB/objects_common.cpp | 3 +++ 2 files changed, 10 insertions(+) create mode 100644 msg/ekf2_innovations.msg diff --git a/msg/ekf2_innovations.msg b/msg/ekf2_innovations.msg new file mode 100644 index 0000000000..cb2ab03146 --- /dev/null +++ b/msg/ekf2_innovations.msg @@ -0,0 +1,7 @@ +uint64 timestamp # Timestamp in microseconds since boot +float32[6] vel_pos_innov # velocity and position innovations +float32[3] mag_innov # earth magnetic field innovations +float32 heading_innov # heading innovation +float32[6] vel_pos_innov_var # velocity and position innovation variances +float32[3] mag_innov_var # earth magnetic field innovation variance +float32 heading_innov_var # heading innovation variance diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index 15dab60df4..0ff426e3b5 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -273,3 +273,6 @@ ORB_DEFINE(camera_trigger, struct camera_trigger_s); #include "topics/vehicle_command_ack.h" ORB_DEFINE(vehicle_command_ack, struct vehicle_command_ack_s); + +#include "topics/ekf2_innovations.h" +ORB_DEFINE(ekf2_innovations, struct ekf2_innovations_s);