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delete control_state and cleanup vehicle_attitude (#7882)

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This commit is contained in:
Daniel Agar
2017-09-21 16:24:53 -04:00
committed by GitHub
parent 5bea264a5f
commit b4755297ec
42 changed files with 776 additions and 1061 deletions
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msg/CMakeLists.txt
+3 -3
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@@ -40,11 +40,10 @@ set(msg_file_names
airspeed.msg
att_pos_mocap.msg
battery_status.msg
camera_trigger.msg
camera_capture.msg
camera_trigger.msg
collision_report.msg
commander_state.msg
control_state.msg
cpuload.msg
debug_key_value.msg
debug_value.msg
@@ -89,12 +88,13 @@ set(msg_file_names
satellite_info.msg
sensor_accel.msg
sensor_baro.msg
sensor_bias.msg
sensor_combined.msg
sensor_correction.msg
sensor_selection.msg
sensor_gyro.msg
sensor_mag.msg
sensor_preflight.msg
sensor_selection.msg
servorail_status.msg
subsystem_info.msg
system_power.msg
msg/control_state.msg
-28
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@@ -1,28 +0,0 @@
# This is similar to the mavlink message CONTROL_SYSTEM_STATE, but for onboard use */
uint8 AIRSPD_MODE_MEAS = 0 # airspeed is measured airspeed from sensor
uint8 AIRSPD_MODE_EST = 1 # airspeed is estimated by body velocity
uint8 AIRSPD_MODE_DISABLED = 2 # airspeed is disabled
float32 x_acc # X acceleration in body frame
float32 y_acc # Y acceleration in body frame
float32 z_acc # Z acceleration in body frame
float32 x_vel # X velocity in body frame
float32 y_vel # Y velocity in body frame
float32 z_vel # Z velocity in body frame
float32 x_pos # X position in local earth frame
float32 y_pos # Y position in local earth frame
float32 z_pos # z position in local earth frame
float32 airspeed # Airspeed, estimated
bool airspeed_valid # False: Non-finite values or non-updating sensor
float32[3] vel_variance # Variance in body velocity estimate
float32[3] pos_variance # Variance in local position estimate
float32[4] q # Attitude Quaternion
float32[4] delta_q_reset # Amount by which quaternion has changed during last reset
uint8 quat_reset_counter # Quaternion reset counter
float32 roll_rate # Roll body angular rate (rad/s, x forward/y right/z down) - corrected for bias
float32 pitch_rate # Pitch body angular rate (rad/s, x forward/y right/z down) - corrected for bias
float32 yaw_rate # Yaw body angular rate (rad/s, x forward/y right/z down) - corrected for bias
float32 horz_acc_mag # low pass filtered magnitude of the horizontal acceleration
float32 roll_rate_bias # Roll body angular rate bias (rad/s, x forward) - subtract from uncorrected gyro data
float32 pitch_rate_bias # Pitch body angular rate bias (rad/s, y right) - subtract from uncorrected gyro data
float32 yaw_rate_bias # Yaw body angular rate bias (rad/s, z down) - subtract from uncorrected gyro data
msg/sensor_bias.msg
+30
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@@ -0,0 +1,30 @@
#
# Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,
# scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
#
float32 gyro_x # Bias corrected angular velocity about X body axis (roll) (in rad/s)
float32 gyro_y # Bias corrected angular velocity about Y body axis (pitch) (in rad/s)
float32 gyro_z # Bias corrected angular velocity about Z body axis (yaw) (in rad/s)
float32 accel_x # Bias corrected acceleration in body X axis (in rad/s)
float32 accel_y # Bias corrected acceleration in body Y axis (in rad/s)
float32 accel_z # Bias corrected acceleration in body Z axis (in rad/s)
float32 mag_x # Bias corrected magnetometer reading in body X axis (in Gauss)
float32 mag_y # Bias corrected magnetometer reading in body Y axis (in Gauss)
float32 mag_z # Bias corrected magnetometer reading in body Z axis (in Gauss)
# In-run bias estimates (subtract from uncorrected data)
float32 gyro_x_bias # X gyroscope in-run bias in body frame (rad/s, x forward)
float32 gyro_y_bias # Y gyroscope in-run bias in body frame (rad/s, y right)
float32 gyro_z_bias # Z gyroscope in-run bias in body frame (rad/s, z down)
float32 accel_x_bias # X accelerometer in-run bias in body frame (m/s^2, x forward)
float32 accel_y_bias # Y accelerometer in-run bias in body frame (m/s^2, y right)
float32 accel_z_bias # Z accelerometer in-run bias in body frame (m/s^2, z down)
float32 mag_x_bias # X magnetometer in-run bias in body frame (Gauss, x forward)
float32 mag_y_bias # Y magnetometer in-run bias in body frame (Gauss, y right)
float32 mag_z_bias # Z magnetometer in-run bias in body frame (Gauss, z down)
msg/vehicle_attitude.msg
+8 -4
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@@ -1,7 +1,11 @@
# This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use
float32 rollspeed # Angular velocity about body north axis (x) in rad/s
float32 pitchspeed # Angular velocity about body east axis (y) in rad/s
float32 yawspeed # Angular velocity about body down axis (z) in rad/s
float32[4] q # Quaternion (NED)
float32 rollspeed # Bias corrected angular velocity about X body axis in rad/s
float32 pitchspeed # Bias corrected angular velocity about Y body axis in rad/s
float32 yawspeed # Bias corrected angular velocity about Z body axis in rad/s
float32[4] q # Quaternion rotation from NED earth frame to XYZ body frame
float32[4] delta_q_reset # Amount by which quaternion has changed during last reset
uint8 quat_reset_counter # Quaternion reset counter
# TOPICS vehicle_attitude vehicle_attitude_groundtruth vehicle_vision_attitude
msg/vehicle_global_position.msg
+11 -3
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@@ -4,25 +4,33 @@
# estimator, which will take more sources of information into account than just GPS,
# e.g. control inputs of the vehicle in a Kalman-filter implementation.
#
uint64 time_utc_usec # GPS UTC timestamp, (microseconds)
float64 lat # Latitude, (degrees)
float64 lon # Longitude, (degrees)
float32 alt # Altitude AMSL, (meters)
float32 delta_alt # Reset delta for altitude
uint8 lat_lon_reset_counter # Counter for reset events on horizontal position coordinates
uint8 alt_reset_counter # Counter for reset events on altitude
uint8 alt_reset_counter # Counter for reset events on altitude
float32 vel_n # North velocity in NED earth-fixed frame, (metres/sec)
float32 vel_e # East velocity in NED earth-fixed frame, (metres/sec)
float32 vel_d # Down velocity in NED earth-fixed frame, (metres/sec)
float32 pos_d_deriv # Down position time derivative in NED earth-fixed frame, (metres/sec)
float32 yaw # Euler yaw angle relative to NED earth-fixed frame, -PI..+PI, (radians)
float32 eph # Standard deviation of horizontal position error, (metres)
float32 epv # Standard deviation of vertical position error, (metres)
float32 evh # Standard deviation of horizontal velocity error, (metres/sec)
float32 evv # Standard deviation of horizontal velocity error, (metres/sec)
float32 terrain_alt # Terrain altitude WGS84, (metres)
bool terrain_alt_valid # Terrain altitude estimate is valid
bool dead_reckoning # True if this position is estimated through dead-reckoning
float32 pressure_alt # Pressure altitude AMSL, (metres)
bool dead_reckoning # True if this position is estimated through dead-reckoning
# TOPICS vehicle_global_position vehicle_global_position_groundtruth
msg/vehicle_local_position.msg
+6 -18
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@@ -1,13 +1,5 @@
# Fused local position in NED.
uint8 ESTIMATOR_TYPE_NAIVE = 1 # Estimator without real covariance feedback
uint8 ESTIMATOR_TYPE_VISION = 2 # Computer vision based estimate. Might be up to scale.
uint8 ESTIMATOR_TYPE_VIO = 3 # Visual-Inertial estimator.
uint8 ESTIMATOR_TYPE_GPS = 4 # Plain GPS estimate.
uint8 ESTIMATOR_TYPE_GPS_INS = 5 # Estimator integrating GPS and inertial sensing.
uint8 estimator_type # type of estimator according to above types
bool xy_valid # true if x and y are valid
bool z_valid # true if z is valid
bool v_xy_valid # true if vy and vy are valid
@@ -20,7 +12,10 @@ float32 z # Down position (negative altitude) in NED earth-fixed frame, (metr
# Position reset delta
float32[2] delta_xy
uint8 xy_reset_counter
float32 delta_z
uint8 z_reset_counter
# Velocity in NED frame
float32 vx # North velocity in NED earth-fixed frame, (metres/sec)
@@ -30,17 +25,10 @@ float32 z_deriv # Down position time derivative in NED earth-fixed frame, (me
# Velocity reset delta
float32[2] delta_vxy
float32 delta_vz
uint8 xy_reset_counter
uint8 z_reset_counter
uint8 vxy_reset_counter
uint8 vz_reset_counter
# Acceleration in NED frame
float32 ax # North acceleration in NED earth-fixed frame, (metres/sec^2)
float32 ay # East acceleration in NED earth-fixed frame, (metres/sec^2)
float32 az # Down acceleration in NED earth-fixed frame, (metres/sec^2)
float32 delta_vz
uint8 vz_reset_counter
# Heading
float32 yaw # Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians)
@@ -56,8 +44,8 @@ float32 ref_alt # Reference altitude AMSL, MUST be set to current (not at ref
# Distance to surface
float32 dist_bottom # Distance from from bottom surface to ground, (metres)
float32 dist_bottom_rate # Rate of change of distance from bottom surface to ground, (metres/sec)
uint64 surface_bottom_timestamp # Time when new bottom surface found since system start, (microseconds)
bool dist_bottom_valid # true if distance to bottom surface is valid
float32 eph # Standard deviation of horizontal position error, (metres)
float32 epv # Standard deviation of vertical position error, (metres)
float32 evh # Standard deviation of horizontal velocity error, (metres/sec)
msg/wind_estimate.msg
+5 -4
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@@ -1,4 +1,5 @@
float32 windspeed_north # Wind component in north / X direction
float32 windspeed_east # Wind component in east / Y direction
float32 covariance_north # Uncertainty - set to zero (no uncertainty) if not estimated
float32 covariance_east # Uncertainty - set to zero (no uncertainty) if not estimated
float32 windspeed_north # Wind component in north / X direction (m/sec)
float32 windspeed_east # Wind component in east / Y direction (m/sec)
float32 variance_north # Wind estimate error variance in north / X direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
float32 variance_east # Wind estimate error variance in east / Y direction (m/sec)**2 - set to zero (no uncertainty) if not estimated