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msg: ekf: switch to uin32_t for deltas, should be more than enough 

Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com>
This commit is contained in:
Nicolae Rosia 2017-07-12 18:00:01 +03:00 committed by Lorenz Meier
parent f1740bbf54
commit 950273dbcf
3 changed files with 6 additions and 6 deletions
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4
msg/ekf2_replay.msg
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@ -1,6 +1,6 @@
uint64 gyro_integral_dt # gyro integration period in us
uint64 accelerometer_integral_dt # accelerometer integration period in us
uint32 gyro_integral_dt # gyro integration period in us
uint32 accelerometer_integral_dt # accelerometer integration period in us
uint64 magnetometer_timestamp # timestamp of magnetometer measurement in us
uint64 baro_timestamp # timestamp of barometer measurement in us
uint64 rng_timestamp # timestamp of range finder measurement in us

4
msg/sensor_combined.msg
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@ -10,11 +10,11 @@ int32 RELATIVE_TIMESTAMP_INVALID = 2147483647 # (0x7fffffff) If one of the relat
# gyro timstamp is equal to the timestamp of the message
float32[3] gyro_rad # average angular rate measured in the XYZ body frame in rad/s over the last gyro sampling period
uint64 gyro_integral_dt # gyro measurement sampling period in us
uint32 gyro_integral_dt # gyro measurement sampling period in us
int32 accelerometer_timestamp_relative # timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
float32[3] accelerometer_m_s2 # average value acceleration measured in the XYZ body frame in m/s/s over the last accelerometer sampling period
uint64 accelerometer_integral_dt # accelerometer measurement sampling period in us
uint32 accelerometer_integral_dt # accelerometer measurement sampling period in us
int32 magnetometer_timestamp_relative # timestamp + magnetometer_timestamp_relative = Magnetometer timestamp
float32[3] magnetometer_ga # Magnetic field in NED body frame, in Gauss

4
src/modules/sdlog2/sdlog2_messages.h
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@ -518,8 +518,8 @@ struct log_EST5_s {
#define LOG_RPL1_MSG 51
struct log_RPL1_s {
uint64_t time_ref;
uint64_t gyro_integral_dt;
uint64_t accelerometer_integral_dt;
uint32_t gyro_integral_dt;
uint32_t accelerometer_integral_dt;
uint64_t magnetometer_timestamp;
uint64_t baro_timestamp;
float gyro_x_rad;