From d779aa04023e80fcc675e504c4bbf24bcf9da7bc Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 21 Jun 2015 18:50:05 +0200 Subject: [PATCH] sensor combined message: Add delta angles and velocities --- msg/sensor_combined.msg | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/msg/sensor_combined.msg b/msg/sensor_combined.msg index 876ccd7c4a..0845918f3b 100644 --- a/msg/sensor_combined.msg +++ b/msg/sensor_combined.msg @@ -30,11 +30,15 @@ uint64 timestamp # Timestamp in microseconds since boot, from gyro int16[3] gyro_raw # Raw sensor values of angular velocity float32[3] gyro_rad_s # Angular velocity in radian per seconds uint32 gyro_priority # Sensor priority +float32[3] gyro_integral_rad # delta angle in radians +uint64 gyro_integral_dt # delta time for gyro integral in us uint32 gyro_errcount # Error counter for gyro 0 float32 gyro_temp # Temperature of gyro 0 int16[3] accelerometer_raw # Raw acceleration in NED body frame float32[3] accelerometer_m_s2 # Acceleration in NED body frame, in m/s^2 +float32[3] accelerometer_integral_m_s # velocity in NED body frame, in m/s^2 +uint64 accelerometer_integral_dt # delta time for accel integral in us int16 accelerometer_mode # Accelerometer measurement mode float32 accelerometer_range_m_s2 # Accelerometer measurement range in m/s^2 uint64 accelerometer_timestamp # Accelerometer timestamp