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msg: add external vision data for ekf2 replay

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Paul Riseborough
2016-05-28 14:54:14 +02:00
committed by Lorenz Meier
parent 8bccd69e6c
commit e5431543d8
1 changed files with 6 additions and 0 deletions
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msg/ekf2_replay.msg
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@@ -7,6 +7,7 @@ uint64 baro_timestamp # timestamp of barometer measurement in us
uint64 rng_timestamp # timestamp of range finder measurement in us
uint64 flow_timestamp # timestamp of optical flow measurement in us
uint64 asp_timestamp # timestamp of airspeed measurement in us
uint64 ev_timestamp # timestamp of external vision measurement in us
float32[3] gyro_integral_rad # integrated gyro vector in rad
float32[3] accelerometer_integral_m_s # integrated accelerometer vector in m/s
@@ -46,3 +47,8 @@ float32 true_airspeed_unfiltered_m_s # true airspeed in meters per second, -1 if
float32 air_temperature_celsius # air temperature in degrees celsius, -1000 if unknown
float32 confidence # confidence value from 0 to 1 for this sensor
# external vision measurements
float32[3] pos_ev # position in earth (NED) frame (metres)
float32[4] quat_ev # quaternion rotation from earth (NED) to body (XYZ) frame
float32 pos_err # position error 1-std for each axis (metres)
float32 ang_err # angular error 1-std for each axis (rad)