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Add LOOSE_INS_GPS and add some fields to EKF7Y messages

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Allen Ibara
2010-08-17 04:33:30 +00:00
parent 7d9ceae0a0
commit a698c07dda
1 changed files with 32 additions and 2 deletions
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conf/messages.xml
+32 -2
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@@ -1203,6 +1203,7 @@
</message>
<message name="EKF7_Y" id="171">
<field name="timecount" type="uint32"/>
<field name="g1" type="float"/>
<field name="g2" type="float"/>
<field name="g3" type="float"/>
@@ -1348,11 +1349,14 @@
<message name="VANE_SENSOR" id="191">
<field name="alpha" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="alpha_filtered" 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="alpha_target" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="alpha_vane_error" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="alpha2" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="beta2" 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="beta_filtered" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="beta_target" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="beta_vane_error" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="beta2" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
</message>
<message name="CONTROLLER_GAINS" id="192">
@@ -1666,7 +1670,31 @@
<field name="ydd" type="float" unit="m/s2"/>
<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" />
<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" />
</message>
<message name="AFL_COEFFS" id="250">
<field name="roll_a" type="float"/>
<field name="roll_b" type="float"/>
@@ -1716,6 +1744,8 @@
</message>
<message name="HENRY_GNSS" id="255">
<field name="last_imu_update" type="uint32"/>
<field name="GPS_time" type="double"/>
<field name="GPS_solution_valid" type="uint8"/>
<field name="latitude" type="double" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="longitude" type="double" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>