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msg: Create message for GPS drift rates

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This data is only updated at 5Hz and only required pre-flight.
This commit is contained in:
Paul Riseborough 2018-07-26 18:18:54 +10:00 committed by Paul Riseborough
parent f7147653ab
commit f100cd73ef
2 changed files with 6 additions and 0 deletions
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1
msg/CMakeLists.txt
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@ -52,6 +52,7 @@ set(msg_files
distance_sensor.msg
ekf2_innovations.msg
ekf2_timestamps.msg
ekf_gps_drift.msg
ekf_gps_position.msg
esc_report.msg
esc_status.msg

5
msg/ekf_gps_drift.msg Normal file
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@ -0,0 +1,5 @@
uint64 timestamp # time since system start (microseconds)
float32 hpos_drift_rate # Horizontal position rate magnitude checked using EKF2_REQ_HDRIFT (m/s)
float32 vpos_drift_rate # Vertical position rate magnitude checked using EKF2_REQ_VDRIFT (m/s)
float32 hspd # Filtered horizontal velocity magnitude checked using EKF2_REQ_HDRIFT (m/s)
bool blocked # true when drift calculation is blocked due to IMU movement check controlled by EKF2_MOVE_TEST