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rate controller status include rates

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- the actual corrected rates currently used by mc_att_control are not
   logged
This commit is contained in:
Daniel Agar
2018-01-04 12:37:00 -05:00
parent 98441ac100
commit 2bea09a997
5 changed files with 27 additions and 14 deletions
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14
msg/rate_ctrl_status.msg
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@@ -1,5 +1,11 @@
float32 roll_integ # roll rate integrator
float32 pitch_integ # pitch rate integrator
float32 yaw_integ # yaw rate integrator
float32 additional_integ1 # FW: wheel rate integrator
# rates used by the controller
float32 rollspeed # Bias corrected angular velocity about X body axis in rad/s
float32 pitchspeed # Bias corrected angular velocity about Y body axis in rad/s
float32 yawspeed # Bias corrected angular velocity about Z body axis in rad/s
# rate controller integrator status
float32 rollspeed_integ
float32 pitchspeed_integ
float32 yawspeed_integ
float32 additional_integ1 # FW: wheel rate integrator (optional)