From c07f7b56599f74ac4e20f7be066593df6b8967f0 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Mon, 14 Nov 2016 08:31:17 +1100 Subject: [PATCH] msg: Add topic for pre-flight sensor checks --- msg/CMakeLists.txt | 1 + msg/sensor_combined.msg | 1 - msg/sensor_preflight.msg | 6 ++++++ 3 files changed, 7 insertions(+), 1 deletion(-) create mode 100644 msg/sensor_preflight.msg diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt index f1892e0a7a..a42f9fecaa 100644 --- a/msg/CMakeLists.txt +++ b/msg/CMakeLists.txt @@ -91,6 +91,7 @@ set(msg_file_names sensor_combined.msg sensor_gyro.msg sensor_mag.msg + sensor_preflight.msg servorail_status.msg subsystem_info.msg system_power.msg diff --git a/msg/sensor_combined.msg b/msg/sensor_combined.msg index 86682c0f11..b785491abb 100644 --- a/msg/sensor_combined.msg +++ b/msg/sensor_combined.msg @@ -22,4 +22,3 @@ float32[3] magnetometer_ga # Magnetic field in NED body frame, in Gauss int32 baro_timestamp_relative # timestamp + baro_timestamp_relative = Barometer timestamp float32 baro_alt_meter # Altitude, already temp. comp. float32 baro_temp_celcius # Temperature in degrees celsius - diff --git a/msg/sensor_preflight.msg b/msg/sensor_preflight.msg new file mode 100644 index 0000000000..81d8e028f1 --- /dev/null +++ b/msg/sensor_preflight.msg @@ -0,0 +1,6 @@ +# +# Pre-flight sensor check metrics. These will be zero if the vehicle only has one sensor. +# The topic will not be updated when the vehicle is armed +# +float32 accel_inconsistency_m_s_s # magnitude of maximum acceleration difference between IMU instances in (m/s/s). +float32 gyro_inconsistency_rad_s # magnitude of maximum angular rate difference between IMU instances in (rad/s).