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Merge INDI simple and FULL INDI messages #177

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merged 2 commits into from
Sep 25, 2023
Merged

Merge INDI simple and FULL INDI messages #177

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c2c5f9e
Merge INDI simple and FULL INDI messages
dewagter Sep 24, 2023
a289777
remove common alt_unit and add rotational acceleration alt
dewagter Sep 25, 2023
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2 changes: 2 additions & 0 deletions message_definitions/common/units.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,4 +19,6 @@
<unit from="rad" to="deg" coef="57.2957795131" auto="display"/>
<unit from="deg/s" to="rad/s" coef="0.0174532925" auto="code"/>
<unit from="rad/s" to="deg/s" coef="57.2957795131" auto="display"/>
<unit from="deg/s2" to="rad/s2" coef="0.0174532925" auto="code"/>
<unit from="rad/s2" to="deg/s2" coef="57.2957795131" auto="display"/>
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</units>
24 changes: 17 additions & 7 deletions message_definitions/v1.0/messages.xml
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Expand Up @@ -1901,16 +1901,26 @@
</message>

<message name="STAB_ATTITUDE_INDI" id="216">
<field name="angular_accel_p" type="float"/>
<field name="angular_accel_q" type="float"/>
<field name="angular_accel_r" type="float"/>
<field name="angular_accel_ref_p" type="float"/>
<field name="angular_accel_ref_q" type="float"/>
<field name="angular_accel_ref_r" type="float"/>
<field name="g1_p" type="float"/>
<field name="body_accel_x" type="float" unit="m/s2"/><!-- setpoint -->
<field name="body_accel_y" type="float" unit="m/s2"/>
<field name="body_accel_z" type="float" unit="m/s2"/>
<field name="angular_rate_p" type="float" unit="rad/s"/><!-- rate tracking -->
<field name="angular_rate_q" type="float" unit="rad/s"/>
<field name="angular_rate_r" type="float" unit="rad/s"/>
<field name="angular_rate_ref_p" type="float" unit="rad/s"/>
<field name="angular_rate_ref_q" type="float" unit="rad/s"/>
<field name="angular_rate_ref_r" type="float" unit="rad/s"/>
<field name="angular_accel_p" type="float" unit="rad/s2"/><!-- angular acceleration -->
<field name="angular_accel_q" type="float" unit="rad/s2"/>
<field name="angular_accel_r" type="float" unit="rad/s2"/>
<field name="angular_accel_ref_p" type="float" unit="rad/s2"/>
<field name="angular_accel_ref_q" type="float" unit="rad/s2"/>
<field name="angular_accel_ref_r" type="float" unit="rad/s2"/>
<field name="g1_p" type="float"/><!-- INDI Simple G-matrix -->
<field name="g1_q" type="float"/>
<field name="g1_r" type="float"/>
<field name="g2_r" type="float"/>
<field name="u" type="float[]"/><!-- outputs -->
</message>

<message name="ROTORCRAFT_FP_MIN" id="217">
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