From 950273dbcfe2e2b4edcc14a34c2ac7165c900252 Mon Sep 17 00:00:00 2001 From: Nicolae Rosia Date: Wed, 12 Jul 2017 18:00:01 +0300 Subject: [PATCH] msg: ekf: switch to uin32_t for deltas, should be more than enough Signed-off-by: Nicolae Rosia --- msg/ekf2_replay.msg | 4 ++-- msg/sensor_combined.msg | 4 ++-- src/modules/sdlog2/sdlog2_messages.h | 4 ++-- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/msg/ekf2_replay.msg b/msg/ekf2_replay.msg index 37e91361c9..44fa0b0eb5 100644 --- a/msg/ekf2_replay.msg +++ b/msg/ekf2_replay.msg @@ -1,6 +1,6 @@ -uint64 gyro_integral_dt # gyro integration period in us -uint64 accelerometer_integral_dt # accelerometer integration period in us +uint32 gyro_integral_dt # gyro integration period in us +uint32 accelerometer_integral_dt # accelerometer integration period in us 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 diff --git a/msg/sensor_combined.msg b/msg/sensor_combined.msg index 5122370011..7b6fc7b51c 100644 --- a/msg/sensor_combined.msg +++ b/msg/sensor_combined.msg @@ -10,11 +10,11 @@ int32 RELATIVE_TIMESTAMP_INVALID = 2147483647 # (0x7fffffff) If one of the relat # gyro timstamp is equal to the timestamp of the message float32[3] gyro_rad # average angular rate measured in the XYZ body frame in rad/s over the last gyro sampling period -uint64 gyro_integral_dt # gyro measurement sampling period in us +uint32 gyro_integral_dt # gyro measurement sampling period in us int32 accelerometer_timestamp_relative # timestamp + accelerometer_timestamp_relative = Accelerometer timestamp float32[3] accelerometer_m_s2 # average value acceleration measured in the XYZ body frame in m/s/s over the last accelerometer sampling period -uint64 accelerometer_integral_dt # accelerometer measurement sampling period in us +uint32 accelerometer_integral_dt # accelerometer measurement sampling period in us int32 magnetometer_timestamp_relative # timestamp + magnetometer_timestamp_relative = Magnetometer timestamp float32[3] magnetometer_ga # Magnetic field in NED body frame, in Gauss diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 306f46c936..defba464e9 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -518,8 +518,8 @@ struct log_EST5_s { #define LOG_RPL1_MSG 51 struct log_RPL1_s { uint64_t time_ref; - uint64_t gyro_integral_dt; - uint64_t accelerometer_integral_dt; + uint32_t gyro_integral_dt; + uint32_t accelerometer_integral_dt; uint64_t magnetometer_timestamp; uint64_t baro_timestamp; float gyro_x_rad;