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sensor_combined: replace accel & gyro integral with value, use float for dt

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Reason: the value is easier to read & handle (for example plotting). In
most places the value is needed, not the integral.

Note that this breaks the replay format for sdlog2 replay
This commit is contained in:
Beat Küng
2016-07-07 11:35:50 +02:00
committed by Lorenz Meier
parent 8e136779ec
commit 9c73eae941
19 changed files with 154 additions and 202 deletions
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msg/sensor_combined.msg
+6 -5
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@@ -5,15 +5,16 @@
# change with board revisions and sensor updates.
#
int32 RELATIVE_TIMESTAMP_INVALID = 2147483647 # (0x7fffffff) If one of the relative timestamp is set to this value, it means the associated sensor values are invalid
int32 RELATIVE_TIMESTAMP_INVALID = 2147483647 # (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid
# gyro timstamp is equal to the timestamp of the message
float32[3] gyro_integral_rad # delta angle in the NED body frame in rad in the integration time frame
uint32 gyro_integral_dt # delta time for gyro integral in us
float32[3] gyro_rad # delta angle in the NED body frame in rad
float32 gyro_integral_dt # delta time for gyro integral in s
int32 accelerometer_timestamp_relative # timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
float32[3] accelerometer_integral_m_s # velocity in NED body frame, in m/s^2
uint32 accelerometer_integral_dt # delta time for accel integral in us
float32[3] accelerometer_m_s2 # velocity in NED body frame, in m/s^2
float32 accelerometer_integral_dt # delta time for accel integral in s
int32 magnetometer_timestamp_relative # timestamp + magnetometer_timestamp_relative = Magnetometer timestamp
float32[3] magnetometer_ga # Magnetic field in NED body frame, in Gauss