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added ekf2 replay message

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tumbili
2016-02-17 15:05:07 +01:00
committed by Lorenz Meier
parent ec803a650e
commit e0a489a749
2 changed files with 29 additions and 0 deletions
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msg/ekf2_replay.msg Normal file
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uint64 time_ref # ekf2 reference time. This is a timestamp passed to the
# estimator which it uses a absolute reference.
uint64 gyro_integral_dt # gyro integration period in us
uint64 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
float32[3] gyro_integral_rad # integrated gyro vector in rad
float32[3] accelerometer_integral_m_s # integrated accelerometer vector in m/s
float32[3] magnetometer_ga # magnetometer measurement vector (body fixed NED) in ga
float32 baro_alt_meter # barometer altitude measurement in m
uint64 time_usec # timestamp of gps position measurement in us
uint64 time_usec_vel # timestamp of gps velocity measurement in us
int32 lat # Latitude in 1E-7 degrees
int32 lon # Longitude in 1E-7 degrees
int32 alt # Altitude in 1E-3 meters above MSL, (millimetres)
uint8 fix_type
float32 eph # GPS horizontal position accuracy (metres)
float32 epv # GPS vertical position accuracy (metres)
float32 vel_m_s # GPS ground speed, (metres/sec)
float32 vel_n_m_s # GPS North velocity, (metres/sec)
float32 vel_e_m_s # GPS East velocity, (metres/sec)
float32 vel_d_m_s # GPS Down velocity, (metres/sec)
bool vel_ned_valid # True if NED velocity is valid