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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/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)