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Update LOOSE_INS_GPS, EKF7_Y, and SYSTEM_STATUS messages

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Allen Ibara
2010-08-18 02:31:39 +00:00
parent 4e441bda5b
commit a068f16ba2
1 changed files with 40 additions and 31 deletions
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conf/messages.xml
+40 -31
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@@ -1203,7 +1203,7 @@
</message>
<message name="EKF7_Y" id="171">
<field name="timecount" type="uint32"/>
<field name="timecount" type="uint16"/>
<field name="g1" type="float"/>
<field name="g2" type="float"/>
<field name="g3" type="float"/>
@@ -1305,16 +1305,16 @@
<field name="busvolts" type="uint16[]"/>
</message>
<message name="SYSTEM_STATUS" id="187">
<field name="csc1_loop_count" type="uint32"/>
<field name="csc1_msg_count" type="uint32"/>
<field name="csc2_loop_count" type="uint32"/>
<field name="csc2_msg_count" type="uint32"/>
<field name="can_rx_err" type="uint32"/>
<field name="can_tx_err" type="uint32"/>
<field name="rc_parser_err" type="uint32"/>
<field name="system_fault" type="uint8" unit="bool"/>
</message>
<message name="SYSTEM_STATUS" id="187">
<field name="csc1_loop_count" type="uint32"/>
<field name="csc1_msg_count" type="uint32"/>
<field name="csc2_loop_count" type="uint32"/>
<field name="csc2_msg_count" type="uint32"/>
<field name="can_rx_err" type="uint32"/>
<field name="can_tx_err" type="uint32"/>
<field name="rc_parser_err" type="uint32"/>
<field name="system_fault" type="uint8"/>
</message>
<message name="DYNAMIXEL" id="188">
<field name="left_wing" type="uint16"/>
@@ -1671,29 +1671,39 @@
<field name="zdd" type="float" unit="m/s2"/>
</message>
<message name="LOOSE_INS_GPS_MEAS" id="249">
<field name="est_p" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="est_q" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="est_r" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="est_phi" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="est_theta" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="est_psi" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="est_p_d" type="float" alt_unit="degres/s^2" alt_unit_coef="57.29578"/>
<field name="est_q_d" type="float" alt_unit="degres/s^2" alt_unit_coef="57.29578"/>
<field name="est_r_d" type="float" alt_unit="degres/s^2" alt_unit_coef="57.29578"/>
<field name="gps_solution_valid" type="uint8"/>
<field name="north" type="double" unit="m" />
<field name="east" type="double" unit="m" />
<field name="down" type="double" unit="m" />
<field name="v_north" type="double" unit="m/s" />
<field name="v_east" type="double" unit="m/s" />
<field name="v_down" type="double" unit="m/s" />
<message name="LOOSE_INS_GPS" id="249">
<field name="status" type="uint8" values="UNINITIALIZED|STARTUP_TRANSIENTS|LOWPASSING|GPS_LOST|NOMINAL"/>
<field name="time_running" type="double" alt_unit="minutes" alt_unit_coef="0.016666666666667"/>
<field name="q0" type="double" />
<field name="q1" type="double" />
<field name="q2" type="double" />
<field name="q3" type="double" />
<field name="phi" type="double" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="theta" type="double" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="psi" type="double" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="north" type="double" unit="m" />
<field name="east" type="double" unit="m" />
<field name="down" type="double" unit="m" />
<field name="v_north" type="double" unit="m/s"/>
<field name="v_east" type="double" unit="m/s"/>
<field name="v_down" type="double" unit="m/s"/>
<field name="est_p" type="double" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="est_q" type="double" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="est_r" type="double" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="gyroBias_x" type="double" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="gyroBias_y" type="double" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="gyroBias_z" type="double" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="imuCallbacks" type="uint32" />
<field name="gpsCallbacks" type="uint32" />
<field name="baroCallbacks" type="uint32" />
<!-- <field name="mahrs_gbx" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="mahrs_gby" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="mahrs_gbz" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="alpha" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3" />
<field name="beta" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3" />
<field name="airspeed" type="float" unit="m/s" />
<field name="barometer" type="float" unit="Pa" />
<field name="barometer" type="float" unit="Pa" /> -->
</message>
<message name="AFL_COEFFS" id="250">
<field name="roll_a" type="float"/>
@@ -1760,7 +1770,6 @@
<field name="V_Down" type="double"/>
</message>
</class>