From f100cd73ef03e462fb2a03fd8c0ab6163c3cb99e Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Thu, 26 Jul 2018 18:18:54 +1000 Subject: [PATCH] msg: Create message for GPS drift rates This data is only updated at 5Hz and only required pre-flight. --- msg/CMakeLists.txt | 1 + msg/ekf_gps_drift.msg | 5 +++++ 2 files changed, 6 insertions(+) create mode 100644 msg/ekf_gps_drift.msg diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt index b047f00f2e..c112e01ec3 100644 --- a/msg/CMakeLists.txt +++ b/msg/CMakeLists.txt @@ -52,6 +52,7 @@ set(msg_files distance_sensor.msg ekf2_innovations.msg ekf2_timestamps.msg + ekf_gps_drift.msg ekf_gps_position.msg esc_report.msg esc_status.msg diff --git a/msg/ekf_gps_drift.msg b/msg/ekf_gps_drift.msg new file mode 100644 index 0000000000..5016c97c0e --- /dev/null +++ b/msg/ekf_gps_drift.msg @@ -0,0 +1,5 @@ +uint64 timestamp # time since system start (microseconds) +float32 hpos_drift_rate # Horizontal position rate magnitude checked using EKF2_REQ_HDRIFT (m/s) +float32 vpos_drift_rate # Vertical position rate magnitude checked using EKF2_REQ_VDRIFT (m/s) +float32 hspd # Filtered horizontal velocity magnitude checked using EKF2_REQ_HDRIFT (m/s) +bool blocked # true when drift calculation is blocked due to IMU movement check controlled by EKF2_MOVE_TEST