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ekf2_timestamps.msg: add new message with ekf2 timestamps

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Beat Küng
2017-03-03 08:25:02 +01:00
committed by Lorenz Meier
parent 473192aa81
commit df3ef3660b
2 changed files with 25 additions and 0 deletions
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msg/ekf2_timestamps.msg Normal file
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# this message contains the (relative) timestamps of the sensor inputs used by
# ekf2. It can be used for reproducible replay.
# timestamp # ekf2 reference time. This matches the timestamp of the
# sensor_combined topic.
int16 RELATIVE_TIMESTAMP_INVALID = 32767 # (0x7fff) If one of the relative timestamps
# is set to this value, it means the associated sensor values did not update
# timestamps are relative to the main timestamp and are in 0.1 ms (timestamp +
# *_timestamp_rel = absolute timestamp). For int16, this allows a maximum
# difference of +-3.2s to the sensor_combined topic.
int16 gps_timestamp_rel
int16 optical_flow_timestamp_rel
int16 distance_sensor_timestamp_rel
int16 airspeed_timestamp_rel
int16 vision_position_timestamp_rel
int16 vision_attitude_timestamp_rel
# Note: this is a high-rate logged topic, so it needs to be as small as possible