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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.
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Paul Riseborough 2016-10-18 16:12:43 +11:00 committed by Lorenz Meier
parent 6a3b147477
commit 79ec263b1e
1 changed files with 4 additions and 1 deletions
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5
msg/estimator_status.msg
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@ -1,6 +1,9 @@
float32[32] states # Internal filter states float32[32] states # Internal filter states
float32 n_states # Number of states effectively used 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 nan_flags # Bitmask to indicate NaN states
uint8 health_flags # Bitmask to indicate sensor health states (vel, pos, hgt) uint8 health_flags # Bitmask to indicate sensor health states (vel, pos, hgt)
uint8 timeout_flags # Bitmask to indicate timeout flags (vel, pos, hgt) uint8 timeout_flags # Bitmask to indicate timeout flags (vel, pos, hgt)