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Clarification of coordinate systems for sensors_* and vehicle_* messages (#16339)

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Changed all 'NED' references to 'FRD'. Also cleaned up mixing of m/s/s and m/s^2 to use the latter. Corrected m/s/s to Pascals. Plus minor typos. Also made some minor cosmetic clean ups.

Co-authored-by: Robin <robin@Robins-MacBook-Pro-Work.local>
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
This commit is contained in:
Robin Lilja
2020-12-15 09:18:05 +01:00
committed by GitHub
parent fdd1d6d244
commit aa244a098c
17 changed files with 46 additions and 46 deletions
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8
msg/vehicle_imu.msg
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@@ -6,10 +6,10 @@ uint64 timestamp_sample
uint32 accel_device_id # Accelerometer unique device ID for the sensor that does not change between power cycles
uint32 gyro_device_id # Gyroscope unique device ID for the sensor that does not change between power cycles
float32[3] delta_angle # delta angle in the NED board axis in rad/s over the integration time frame (dt)
float32[3] delta_velocity # delta velocity in the NED board axis in m/s over the integration time frame (dt)
uint16 delta_angle_dt # integration period in us
uint16 delta_velocity_dt # integration period in us
float32[3] delta_angle # delta angle about the FRD body frame XYZ-axis in rad over the integration time frame (delta_angle_dt)
float32[3] delta_velocity # delta velocity in the FRD body frame XYZ-axis in m/s over the integration time frame (delta_velocity_dt)
uint16 delta_angle_dt # integration period in microseconds
uint16 delta_velocity_dt # integration period in microseconds
uint8 CLIPPING_X = 1
uint8 CLIPPING_Y = 2