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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-21 17:30:53 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-21 17:30:53 +0100 |
commit | ac215185a9604a88665d0b5b8382659f8cedaf56 (patch) | |
tree | f7ba1eca830745fd7c002f954de27d38ea0995da /apps/uORB/topics/vehicle_attitude.h | |
parent | 48e497e4069a2f8773d90f2d1887967a81e487d8 (diff) | |
download | px4-firmware-ac215185a9604a88665d0b5b8382659f8cedaf56.tar.gz px4-firmware-ac215185a9604a88665d0b5b8382659f8cedaf56.tar.bz2 px4-firmware-ac215185a9604a88665d0b5b8382659f8cedaf56.zip |
Better attitude filter, not sensitive to sudden accelerations
Diffstat (limited to 'apps/uORB/topics/vehicle_attitude.h')
-rwxr-xr-x[-rw-r--r--] | apps/uORB/topics/vehicle_attitude.h | 35 |
1 files changed, 16 insertions, 19 deletions
diff --git a/apps/uORB/topics/vehicle_attitude.h b/apps/uORB/topics/vehicle_attitude.h index 009379920..c31c81d0c 100644..100755 --- a/apps/uORB/topics/vehicle_attitude.h +++ b/apps/uORB/topics/vehicle_attitude.h @@ -57,29 +57,26 @@ */ struct vehicle_attitude_s { - /* - * Actual data, this is specific to the type of data which is stored in this struct - * A line containing L0GME will be added by the Python logging code generator to the - * logged dataset. - */ - uint64_t timestamp; /**< in microseconds since system start */ + uint64_t timestamp; /**< in microseconds since system start */ /* This is similar to the mavlink message ATTITUDE, but for onboard use */ - /* @warning Roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional */ + /** @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional */ - float roll; /**< Roll angle (rad, Tait-Bryan, NED) LOGME */ - float pitch; /**< Pitch angle (rad, Tait-Bryan, NED) LOGME */ - float yaw; /**< Yaw angle (rad, Tait-Bryan, NED) LOGME */ - float rollspeed; /**< Roll angular speed (rad/s, Tait-Bryan, NED) LOGME */ - float pitchspeed; /**< Pitch angular speed (rad/s, Tait-Bryan, NED) LOGME */ - float yawspeed; /**< Yaw angular speed (rad/s, Tait-Bryan, NED) LOGME */ - float rate_offsets[3];/**< Offsets of the body angular rates from zero */ - float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */ - float q[4]; /**< Quaternion (NED) */ - bool R_valid; /**< Rotation matrix valid */ - bool q_valid; /**< Quaternion valid */ - uint16_t counter; /**< Counter of all attitude messages (wraps) */ + float roll; /**< Roll angle (rad, Tait-Bryan, NED) */ + float pitch; /**< Pitch angle (rad, Tait-Bryan, NED) */ + float yaw; /**< Yaw angle (rad, Tait-Bryan, NED) */ + float rollspeed; /**< Roll angular speed (rad/s, Tait-Bryan, NED) */ + float pitchspeed; /**< Pitch angular speed (rad/s, Tait-Bryan, NED) */ + float yawspeed; /**< Yaw angular speed (rad/s, Tait-Bryan, NED) */ + float rollacc; /**< Roll angular accelration (rad/s, Tait-Bryan, NED) */ + float pitchacc; /**< Pitch angular acceleration (rad/s, Tait-Bryan, NED) */ + float yawacc; /**< Yaw angular acceleration (rad/s, Tait-Bryan, NED) */ + float rate_offsets[3]; /**< Offsets of the body angular rates from zero */ + float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */ + float q[4]; /**< Quaternion (NED) */ + bool R_valid; /**< Rotation matrix valid */ + bool q_valid; /**< Quaternion valid */ }; |