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ekf2: Added airspeed to rpl logging

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CarlOlsson
2016-05-10 21:32:55 +02:00
committed by Lorenz Meier
parent f4c8bd9be3
commit 6b5e77250f
4 changed files with 49 additions and 0 deletions
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msg/ekf2_replay.msg
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@@ -6,6 +6,7 @@ uint64 magnetometer_timestamp # timestamp of magnetometer measurement in us
uint64 baro_timestamp # timestamp of barometer measurement in us
uint64 rng_timestamp # timestamp of range finder measurement in us
uint64 flow_timestamp # timestamp of optical flow measurement in us
uint64 asp_timestamp # timestamp of airspeed measurement in us
float32[3] gyro_integral_rad # integrated gyro vector in rad
float32[3] accelerometer_integral_m_s # integrated accelerometer vector in m/s
@@ -37,3 +38,11 @@ float32[2] flow_pixel_integral # integrated optical flow rate around x and y ax
float32[2] flow_gyro_integral # integrated gyro rate around x and y axes (rad)
uint32 flow_time_integral # integration timespan (usec)
uint8 flow_quality # Quality of accumulated optical flow data (0 - 255)
# airspeed
float32 indicated_airspeed_m_s # indicated airspeed in meters per second, -1 if unknown
float32 true_airspeed_m_s # true filtered airspeed in meters per second, -1 if unknown
float32 true_airspeed_unfiltered_m_s # true airspeed in meters per second, -1 if unknown
float32 air_temperature_celsius # air temperature in degrees celsius, -1000 if unknown
float32 confidence # confidence value from 0 to 1 for this sensor