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12 lines
510 B
Plaintext
12 lines
510 B
Plaintext
# simulator in Hardware - Romain Chiappinelli - Jan 8, 2019
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uint64 timestamp # time since system start (microseconds)
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uint32 dt_us # simulator sampling time [us]
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float32[3] euler_rpy # euler angles (roll-pitch-yaw) [deg]
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float32[3] omega_b # body rates in body frame [rad/s]
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float32[3] p_i_local # local inertial position [m]
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float32[3] v_i # inertial velocity [m]
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float32[4] u # motor signals [0;1]
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uint32 te_us # execution time [us]
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uint32 td_us # delay time [us]
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