px4-firmware/msg/VehicleAttitude.msg

# This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use

uint64 timestamp                # time since system start (microseconds)

uint64 timestamp_sample         # the timestamp of the raw data (microseconds)

float32[4] q                    # Quaternion rotation from the FRD body frame to the NED earth frame
float32[4] delta_q_reset        # Amount by which quaternion has changed during last reset
uint8 quat_reset_counter        # Quaternion reset counter

# TOPICS vehicle_attitude vehicle_attitude_groundtruth external_ins_attitude
# TOPICS estimator_attitude
Remove q_valid flag from attitude topic 2016-09-27 12:54:04 -03:00			`# This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use`
delete control_state and cleanup vehicle_attitude (#7882) 2017-09-21 17:24:53 -03:00
Add gyro clipping to mirror accel clipping monitoring instances. 2022-04-22 13:43:25 -03:00			`uint64 timestamp # time since system start (microseconds)`
add timestamp field to uORB msgs; sync timestamp whenever possible 2018-08-06 21:30:05 -03:00
Add gyro clipping to mirror accel clipping monitoring instances. 2022-04-22 13:43:25 -03:00			`uint64 timestamp_sample # the timestamp of the raw data (microseconds)`
estimator messages add explicit timestamp_sample - timestamp is uORB publication metadata - this allows us to see what the system saw at publication time plus the latency in estimation 2020-09-01 15:38:41 -03:00
Add gyro clipping to mirror accel clipping monitoring instances. 2022-04-22 13:43:25 -03:00			`float32[4] q # Quaternion rotation from the FRD body frame to the NED earth frame`
			`float32[4] delta_q_reset # Amount by which quaternion has changed during last reset`
			`uint8 quat_reset_counter # Quaternion reset counter`
add HIL_STATE message handler and publish to uORB add missing break uorb topics generator: add multi-topics to the list of all topics topic names with '# TOPICS <name>' were previously not in orb_get_topics(). This means the logger could not find them. Affects for example actuator_controls_0. px_generate_uorb_topic_files.py: add multitopics to generate_topics_list_file_from_files method switch simulated attitude to new topic: vehicle_attitude_groundtruth logger: add input_rc topic. needed for web plotting input_rc.msg: remove timestamp_publication, use timestamp instead mixer.cpp: warnx -> PX4_ERR logger: initialize timer_call to 0 (hrt_call_every reads some fields) position_setpoint_triplet topic: set the timestamp when publishing px_generate_uorb_topic_files.py: add multitopics to generate_topics_list_file_from_files method add vehicle_attitude_groundtruth to default topics change to hil_state_quaternion 2016-09-12 11:37:51 -03:00
drivers: initial VectorNav (VN-100, VN-200, VN-300) support 2023-01-20 20:09:30 -04:00			`# TOPICS vehicle_attitude vehicle_attitude_groundtruth external_ins_attitude`
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_attitude`