From 79ec263b1e5678bcaec6a1acc08ae8ed74616a3a Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Tue, 18 Oct 2016 16:12:43 +1100 Subject: [PATCH] msg: Change definition for un-used vibration monitoring variable Makes the message more useful in comparing the types of vibration likely to cause numerical errors and matches the update ecl library interface. --- msg/estimator_status.msg | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/msg/estimator_status.msg b/msg/estimator_status.msg index aa8a0ef4a1..935f488e07 100644 --- a/msg/estimator_status.msg +++ b/msg/estimator_status.msg @@ -1,6 +1,9 @@ float32[32] states # Internal filter states float32 n_states # Number of states effectively used -float32[3] vibe # Vibration levels in X, Y and Z +float32[3] vibe # IMU vibration metrics in the following array locations +# 0 : Gyro delta angle coning metric = filtered length of (delta_angle x prev_delta_angle) +# 1 : Gyro high frequency vibe = filtered length of (delta_angle - prev_delta_angle) +# 2 : Accel high frequency vibe = filtered length of (delta_velocity - prev_delta_velocity) uint8 nan_flags # Bitmask to indicate NaN states uint8 health_flags # Bitmask to indicate sensor health states (vel, pos, hgt) uint8 timeout_flags # Bitmask to indicate timeout flags (vel, pos, hgt)