From 28488cfcd02068a91f580addca5d55620f4e1958 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 4 Jan 2017 14:46:42 +0100 Subject: [PATCH] msg: add gyro biases to control state message --- msg/control_state.msg | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/msg/control_state.msg b/msg/control_state.msg index 74ace91967..be4ffd7b1c 100644 --- a/msg/control_state.msg +++ b/msg/control_state.msg @@ -19,7 +19,10 @@ float32[3] pos_variance # Variance in local position estimate float32[4] q # Attitude Quaternion float32[4] delta_q_reset # Amount by which quaternion has changed during last reset uint8 quat_reset_counter # Quaternion reset counter -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) -float32 horz_acc_mag # low pass filtered magnitude of the horizontal acceleration +float32 roll_rate # Roll body angular rate (rad/s, x forward/y right/z down) - corrected for bias +float32 pitch_rate # Pitch body angular rate (rad/s, x forward/y right/z down) - corrected for bias +float32 yaw_rate # Yaw body angular rate (rad/s, x forward/y right/z down) - corrected for bias +float32 horz_acc_mag # low pass filtered magnitude of the horizontal acceleration +float32 roll_rate_bias # Roll body angular rate bias (rad/s, x forward) - subtract from uncorrected gyro data +float32 pitch_rate_bias # Pitch body angular rate bias (rad/s, y right) - subtract from uncorrected gyro data +float32 yaw_rate_bias # Yaw body angular rate bias (rad/s, z down) - subtract from uncorrected gyro data