forked from Archive/PX4-Autopilot
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.
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@ -15,6 +15,7 @@ uint8 alt_reset_counter # Counter for reset events on altitude
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float32 vel_n # North velocity in NED earth-fixed frame, (metres/sec)
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float32 vel_e # East velocity in NED earth-fixed frame, (metres/sec)
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float32 vel_d # Down velocity in NED earth-fixed frame, (metres/sec)
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float32 pos_d_deriv # Down position time derivative in NED earth-fixed frame, (metres/sec)
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float32 yaw # Euler yaw angle relative to NED earth-fixed frame, -PI..+PI, (radians)
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float32 eph # Standard deviation of horizontal position error, (metres)
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float32 epv # Standard deviation of vertical position error, (metres)
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@ -26,6 +26,7 @@ float32 delta_z
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float32 vx # North velocity in NED earth-fixed frame, (metres/sec)
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float32 vy # East velocity in NED earth-fixed frame, (metres/sec)
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float32 vz # Down velocity in NED earth-fixed frame, (metres/sec)
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float32 z_deriv # Down position time derivative in NED earth-fixed frame, (metres/sec)
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# Velocity reset delta
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float32[2] delta_vxy
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