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SITL: JSON: examples: update readme

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Iampete1 2020-07-16 19:26:42 +01:00 committed by Peter Barker
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libraries/SITL/examples/JSON/readme.md
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@ -28,13 +28,19 @@ Data is received from the physics backend in a plain text JSON format. The data
imu:
gyro(roll, pitch, yaw) (radians/sec) body frame
accel_body(x, y, z) (m/s^2) body frame
position(north, east, down) (m) earth frame
attitude(roll, pitch yaw) (radians)
velocity(north, east, down) (m/s) earth frame
```
It is possible to send the attitude in a euler format using ```attitude``` or as a quaternion with ```quaternion```, one of these fields must be received. If both are received the quaternion attitude will be used.
```
attitude(roll, pitch yaw) (radians)
quaternion(q1, q2, q3, q4)
```
This is a example input frame, it should be preceded by and terminated with a carriage return ("\n") :
```
{"timestamp":2500,"imu":{"gyro":[0,0,0],"accel_body":[0,0,0]},"position":[0,0,0],"attitude":[0,0,0],"velocity":[0,0,0]}
```
The order of fields is not important, this is minimum required fields. In the future a support for a number of additional optional felids will be added to allow readings to be provided for additional sensors such as airspeed and lidar.
The order of fields is not important. In the future support for additional optional fields could be added to allow readings to be provided for additional sensors.