From e5431543d8e4bd9493d5a0608b5c4748c0e89e39 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Thu, 26 May 2016 23:09:53 +1000 Subject: [PATCH] msg: add external vision data for ekf2 replay --- msg/ekf2_replay.msg | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/msg/ekf2_replay.msg b/msg/ekf2_replay.msg index e3127ef0e9..e19daae59b 100644 --- a/msg/ekf2_replay.msg +++ b/msg/ekf2_replay.msg @@ -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)