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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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54a32eb2f7
- move EV yaw and EV position to new state machines - EV yaw and EV pos now configured via EKF2_EV_CTRL (migrated from EKF2_AID_MASK) - new EV position offset estimator to enable EV position while GPS position is active (no more EV pos delta fusion) - yaw_align now strictly means north (no more rotate external vision aid mask) - automatic switching between EV yaw, and yaw align north based on GPS quality
32 lines
1.4 KiB
Plaintext
32 lines
1.4 KiB
Plaintext
# Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample
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uint8 POSE_FRAME_UNKNOWN = 0
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uint8 POSE_FRAME_NED = 1 # NED earth-fixed frame
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uint8 POSE_FRAME_FRD = 2 # FRD world-fixed frame, arbitrary heading reference
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uint8 pose_frame # Position and orientation frame of reference
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float32[3] position # Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown
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float32[4] q # Quaternion rotation from FRD body frame to reference frame. First value NaN if invalid/unknown
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uint8 VELOCITY_FRAME_UNKNOWN = 0
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uint8 VELOCITY_FRAME_NED = 1 # NED earth-fixed frame
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uint8 VELOCITY_FRAME_FRD = 2 # FRD world-fixed frame, arbitrary heading reference
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uint8 VELOCITY_FRAME_BODY_FRD = 3 # FRD body-fixed frame
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uint8 velocity_frame # Reference frame of the velocity data
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float32[3] velocity # Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown
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float32[3] angular_velocity # Angular velocity in body-fixed frame (rad/s). NaN if invalid/unknown
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float32[3] position_variance
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float32[3] orientation_variance
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float32[3] velocity_variance
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uint8 reset_counter
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int8 quality
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# TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
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# TOPICS estimator_odometry
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