dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity
px4-firmware/msg/VehicleOdometry.msg

32 lines
1.4 KiB
Plaintext
Raw Normal View History

add vehicle_odometry msg
2018-07-11 09:44:43 -03:00
# Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
vehicle_odometry: add timestamp field
2018-08-10 06:27:59 -03:00
uint64 timestamp # time since system start (microseconds)
vehicle_odometry: add timestamp_sample field for latency monitoring
2020-04-28 11:07:19 -03:00
uint64 timestamp_sample
msg/vehicle_odometry.msg: simplify covariance handling and update all usage (#19966) - replace float32[21] URT covariances with smaller dedicated position/velocity/orientation variances (the crossterms are unused, awkward, and relatively costly) - these are easier to casually inspect and more representative of what's actually being used currently and reduces the size of vehicle_odometry_s quite a bit - ekf2: add new helper to get roll/pitch/yaw covariances - mavlink: receiver ODOMETRY handle more frame types for both pose (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU) and velocity (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU, MAV_FRAME_BODY_FRD) - mavlink: delete unused ATT_POS_MOCAP stream (this is just a passthrough) Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2022-08-04 13:55:21 -03:00
uint8 POSE_FRAME_UNKNOWN = 0
uint8 POSE_FRAME_NED = 1 # NED earth-fixed frame
uint8 POSE_FRAME_FRD = 2 # FRD world-fixed frame, arbitrary heading reference
uint8 pose_frame # Position and orientation frame of reference
add vehicle_odometry msg
2018-07-11 09:44:43 -03:00
msg/vehicle_odometry.msg: simplify covariance handling and update all usage (#19966) - replace float32[21] URT covariances with smaller dedicated position/velocity/orientation variances (the crossterms are unused, awkward, and relatively costly) - these are easier to casually inspect and more representative of what's actually being used currently and reduces the size of vehicle_odometry_s quite a bit - ekf2: add new helper to get roll/pitch/yaw covariances - mavlink: receiver ODOMETRY handle more frame types for both pose (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU) and velocity (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU, MAV_FRAME_BODY_FRD) - mavlink: delete unused ATT_POS_MOCAP stream (this is just a passthrough) Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2022-08-04 13:55:21 -03:00
float32[3] position # Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown
float32[4] q # Quaternion rotation from FRD body frame to reference frame. First value NaN if invalid/unknown
add vehicle_odometry msg
2018-07-11 09:44:43 -03:00
msg/vehicle_odometry.msg: simplify covariance handling and update all usage (#19966) - replace float32[21] URT covariances with smaller dedicated position/velocity/orientation variances (the crossterms are unused, awkward, and relatively costly) - these are easier to casually inspect and more representative of what's actually being used currently and reduces the size of vehicle_odometry_s quite a bit - ekf2: add new helper to get roll/pitch/yaw covariances - mavlink: receiver ODOMETRY handle more frame types for both pose (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU) and velocity (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU, MAV_FRAME_BODY_FRD) - mavlink: delete unused ATT_POS_MOCAP stream (this is just a passthrough) Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2022-08-04 13:55:21 -03:00
uint8 VELOCITY_FRAME_UNKNOWN = 0
uint8 VELOCITY_FRAME_NED = 1 # NED earth-fixed frame
uint8 VELOCITY_FRAME_FRD = 2 # FRD world-fixed frame, arbitrary heading reference
uint8 VELOCITY_FRAME_BODY_FRD = 3 # FRD body-fixed frame
uint8 velocity_frame # Reference frame of the velocity data
Support odometry velocity in body and local frame (#14703) * Update submodule ECL * increase lower bound on EVV param
2020-05-13 07:43:02 -03:00
msg/vehicle_odometry.msg: simplify covariance handling and update all usage (#19966) - replace float32[21] URT covariances with smaller dedicated position/velocity/orientation variances (the crossterms are unused, awkward, and relatively costly) - these are easier to casually inspect and more representative of what's actually being used currently and reduces the size of vehicle_odometry_s quite a bit - ekf2: add new helper to get roll/pitch/yaw covariances - mavlink: receiver ODOMETRY handle more frame types for both pose (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU) and velocity (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU, MAV_FRAME_BODY_FRD) - mavlink: delete unused ATT_POS_MOCAP stream (this is just a passthrough) Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2022-08-04 13:55:21 -03:00
float32[3] velocity # Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown
add vehicle_odometry msg
2018-07-11 09:44:43 -03:00
msg/vehicle_odometry.msg: simplify covariance handling and update all usage (#19966) - replace float32[21] URT covariances with smaller dedicated position/velocity/orientation variances (the crossterms are unused, awkward, and relatively costly) - these are easier to casually inspect and more representative of what's actually being used currently and reduces the size of vehicle_odometry_s quite a bit - ekf2: add new helper to get roll/pitch/yaw covariances - mavlink: receiver ODOMETRY handle more frame types for both pose (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU) and velocity (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU, MAV_FRAME_BODY_FRD) - mavlink: delete unused ATT_POS_MOCAP stream (this is just a passthrough) Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2022-08-04 13:55:21 -03:00
float32[3] angular_velocity # Angular velocity in body-fixed frame (rad/s). NaN if invalid/unknown
add vehicle_odometry msg
2018-07-11 09:44:43 -03:00
msg/vehicle_odometry.msg: simplify covariance handling and update all usage (#19966) - replace float32[21] URT covariances with smaller dedicated position/velocity/orientation variances (the crossterms are unused, awkward, and relatively costly) - these are easier to casually inspect and more representative of what's actually being used currently and reduces the size of vehicle_odometry_s quite a bit - ekf2: add new helper to get roll/pitch/yaw covariances - mavlink: receiver ODOMETRY handle more frame types for both pose (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU) and velocity (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU, MAV_FRAME_BODY_FRD) - mavlink: delete unused ATT_POS_MOCAP stream (this is just a passthrough) Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2022-08-04 13:55:21 -03:00
float32[3] position_variance
float32[3] orientation_variance
float32[3] velocity_variance
add vehicle_odometry msg
2018-07-11 09:44:43 -03:00
add odometry reset counter (ekf2, mavlink, etc)
2022-01-28 16:10:09 -04:00
uint8 reset_counter
msg/vehicle_odometry.msg: simplify covariance handling and update all usage (#19966) - replace float32[21] URT covariances with smaller dedicated position/velocity/orientation variances (the crossterms are unused, awkward, and relatively costly) - these are easier to casually inspect and more representative of what's actually being used currently and reduces the size of vehicle_odometry_s quite a bit - ekf2: add new helper to get roll/pitch/yaw covariances - mavlink: receiver ODOMETRY handle more frame types for both pose (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU) and velocity (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU, MAV_FRAME_BODY_FRD) - mavlink: delete unused ATT_POS_MOCAP stream (this is just a passthrough) Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2022-08-04 13:55:21 -03:00
int8 quality
add odometry reset counter (ekf2, mavlink, etc)
2022-01-28 16:10:09 -04:00
rename vehicle_visual_odometry_aligned -> estimator_visual_odometry_aligned - saves a small amount of work for the ekf2 selector in multi-EKF mode (visual_odometry_aligned now ignored) - helps to distinguish the origin/purpose from vehicle_odometry and vehicle_visual_odometry
2020-10-27 13:33:39 -03:00
# TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
Multi-EKF support (ekf2) - ekf2 can now run in multi-instance mode (currently up to 9 instances) - in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude) - new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude) - sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro) - existing consumers of estimator_status must check estimator_selector_status to select current primary instance status - ekf2 single instance mode is still fully supported and the default Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
2020-10-27 11:56:11 -03:00
# TOPICS estimator_odometry estimator_visual_odometry_aligned