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[paparazzi-commits] [4364] Add BOOZ2_AHRS_REF_QUAT for sending reference
From: |
Allen Ibara |
Subject: |
[paparazzi-commits] [4364] Add BOOZ2_AHRS_REF_QUAT for sending reference and body quaternion telemetry |
Date: |
Tue, 08 Dec 2009 07:07:18 +0000 |
Revision: 4364
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4364
Author: aibara
Date: 2009-12-08 07:07:17 +0000 (Tue, 08 Dec 2009)
Log Message:
-----------
Add BOOZ2_AHRS_REF_QUAT for sending reference and body quaternion telemetry
Modified Paths:
--------------
paparazzi3/trunk/conf/messages.xml
Modified: paparazzi3/trunk/conf/messages.xml
===================================================================
--- paparazzi3/trunk/conf/messages.xml 2009-12-08 07:06:11 UTC (rev 4363)
+++ paparazzi3/trunk/conf/messages.xml 2009-12-08 07:07:17 UTC (rev 4364)
@@ -1243,6 +1243,17 @@
<field name="pan" type="int16" unit="2^12rad" alt_unit="degres"
alt_unit_coef="0.0139882"/>
</message>
+ <message name="BOOZ2_AHRS_REF_QUAT" id="169">
+ <field name="ref_qi" type="float"/>
+ <field name="ref_qx" type="float"/>
+ <field name="ref_qy" type="float"/>
+ <field name="ref_qz" type="float"/>
+ <field name="body_qi" type="float"/>
+ <field name="body_qx" type="float"/>
+ <field name="body_qy" type="float"/>
+ <field name="body_qz" type="float"/>
+ </message>
+
<message name="WT" id="175">
<field name="rpm" type="float"/>
</message>
@@ -1388,7 +1399,8 @@
</message>
<message name="VANE_SENSOR" id="191">
- <field name="angle1" type="float" unit="rad" alt_unit="deg"
alt_unit_coef="57.3"/>
+ <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"/>
</message>
<message name="CONTROLLER_GAINS" id="192">
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