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mocap_support: added support for mocap data on firmware

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TSC21
2015-06-13 17:03:31 +01:00
parent c92655b850
commit dccd4df7bc
13 changed files with 225 additions and 90 deletions
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msg/att_pos_mocap.msg
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uint32 id # ID of the estimator, commonly the component ID of the incoming message
uint64 timestamp_boot # time of this estimate, in microseconds since system start
uint64 timestamp_computer # timestamp provided by the companion computer, in us
float32[4] q # Estimated attitude as quaternion
float32 x # X position in meters in NED earth-fixed frame
float32 y # Y position in meters in NED earth-fixed frame
float32 z # Z position in meters in NED earth-fixed frame (negative altitude)
msg/vehicle_vicon_position.msg
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uint64 timestamp # time of this estimate, in microseconds since system start
bool valid # true if position satisfies validity criteria of estimator
float32 x # X position in meters in NED earth-fixed frame
float32 y # Y position in meters in NED earth-fixed frame
float32 z # Z position in meters in NED earth-fixed frame (negative altitude)
float32 roll
float32 pitch
float32 yaw
float32[4] q # Attitude as quaternion