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msg: Add vertical derivative to vehicle position messages 

This enables control loops that are sensitive to vertical velocity offsets to use a vertical velocity that is kinematically consistent with the vertical position.
This commit is contained in:
Paul Riseborough 2017-04-27 10:42:59 +10:00 committed by Dennis Mannhart
parent 862201cc4c
commit 2e008dfbc4
2 changed files with 2 additions and 0 deletions
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1
msg/vehicle_global_position.msg
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@ -15,6 +15,7 @@ uint8 alt_reset_counter # Counter for reset events on altitude
float32 vel_n # North velocity in NED earth-fixed frame, (metres/sec)
float32 vel_e # East velocity in NED earth-fixed frame, (metres/sec)
float32 vel_d # Down velocity in NED earth-fixed frame, (metres/sec)
float32 pos_d_deriv # Down position time derivative in NED earth-fixed frame, (metres/sec)
float32 yaw # Euler yaw angle relative to NED earth-fixed frame, -PI..+PI, (radians)
float32 eph # Standard deviation of horizontal position error, (metres)
float32 epv # Standard deviation of vertical position error, (metres)

1
msg/vehicle_local_position.msg
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@ -26,6 +26,7 @@ float32 delta_z
float32 vx # North velocity in NED earth-fixed frame, (metres/sec)
float32 vy # East velocity in NED earth-fixed frame, (metres/sec)
float32 vz # Down velocity in NED earth-fixed frame, (metres/sec)
float32 z_deriv # Down position time derivative in NED earth-fixed frame, (metres/sec)
# Velocity reset delta
float32[2] delta_vxy