2015-09-23 11:19:14 -03:00
|
|
|
# This is similar to the mavlink message CONTROL_SYSTEM_STATE, but for onboard use */
|
|
|
|
|
uint64 timestamp # in microseconds since system start
|
|
|
|
|
float32 x_acc # X acceleration in body frame
|
|
|
|
|
float32 y_acc # Y acceleration in body frame
|
|
|
|
|
float32 z_acc # Z acceleration in body frame
|
|
|
|
|
float32 x_vel # X velocity in body frame
|
|
|
|
|
float32 y_vel # Y velocity in body frame
|
|
|
|
|
float32 z_vel # Z velocity in body frame
|
|
|
|
|
float32 x_pos # X position in local frame
|
|
|
|
|
float32 y_pos # Y position in local frame
|
|
|
|
|
float32 z_pos # z position in local frame
|
|
|
|
|
float32 airspeed # Airspeed, estimated
|
|
|
|
|
float32[3] vel_variance # Variance in body velocity estimate
|
|
|
|
|
float32[3] pos_variance # Variance in local position estimate
|
|
|
|
|
float32[4] q # Attitude Quaternion
|
|
|
|
|
float32 roll_rate # Roll body angular rate (rad/s, x forward/y right/z down)
|
|
|
|
|
float32 pitch_rate # Pitch body angular rate (rad/s, x forward/y right/z down)
|
|
|
|
|
float32 yaw_rate # Yaw body angular rate (rad/s, x forward/y right/z down)
|
2015-11-14 10:03:14 -04:00
|
|
|
float32 horz_acc_mag # Magnitude of the horizontal acceleration
|
