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sensor combined message: Add delta angles and velocities

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Lorenz Meier
2015-08-19 10:16:35 +02:00
parent 857fced227
commit d779aa0402
1 changed files with 4 additions and 0 deletions
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msg/sensor_combined.msg
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@@ -30,11 +30,15 @@ uint64 timestamp # Timestamp in microseconds since boot, from gyro
int16[3] gyro_raw # Raw sensor values of angular velocity int16[3] gyro_raw # Raw sensor values of angular velocity
float32[3] gyro_rad_s # Angular velocity in radian per seconds float32[3] gyro_rad_s # Angular velocity in radian per seconds
uint32 gyro_priority # Sensor priority 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 uint32 gyro_errcount # Error counter for gyro 0
float32 gyro_temp # Temperature of gyro 0 float32 gyro_temp # Temperature of gyro 0
int16[3] accelerometer_raw # Raw acceleration in NED body frame 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_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 int16 accelerometer_mode # Accelerometer measurement mode
float32 accelerometer_range_m_s2 # Accelerometer measurement range in m/s^2 float32 accelerometer_range_m_s2 # Accelerometer measurement range in m/s^2
uint64 accelerometer_timestamp # Accelerometer timestamp uint64 accelerometer_timestamp # Accelerometer timestamp