From 5e785d45249d39c4ea8da049f23dd9cd5c4bead8 Mon Sep 17 00:00:00 2001
From: Laura Sebesta <kenn@eissq.com>
Date: Tue, 23 Oct 2012 11:50:00 +0200
Subject: [PATCH] Added body-frame acceleration to ground truth UAVO and to
 flight simulator output.

Conflicts:

	shared/uavobjectdefinition/groundtruth.xml
---
 ground/openpilotgcs/src/plugins/hitl/simulator.cpp | 4 ++++
 shared/uavobjectdefinition/groundtruth.xml         | 5 +++--
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/hitl/simulator.cpp b/ground/openpilotgcs/src/plugins/hitl/simulator.cpp
index b26acc97f..ba3e0ee67 100644
--- a/ground/openpilotgcs/src/plugins/hitl/simulator.cpp
+++ b/ground/openpilotgcs/src/plugins/hitl/simulator.cpp
@@ -431,6 +431,10 @@ void Simulator::updateUAVOs(Output2Hardware out){
     GroundTruth::DataFields groundTruthData;
     groundTruthData = groundTruth->getData();
 
+    groundTruthData.AccelerationXYZ[0]=out.accX;
+    groundTruthData.AccelerationXYZ[1]=out.accY;
+    groundTruthData.AccelerationXYZ[2]=out.accZ;
+
     groundTruthData.AngularRates[0]=out.rollRate;
     groundTruthData.AngularRates[1]=out.pitchRate;
     groundTruthData.AngularRates[2]=out.yawRate;
diff --git a/shared/uavobjectdefinition/groundtruth.xml b/shared/uavobjectdefinition/groundtruth.xml
index 70bc6c6e3..975436f84 100644
--- a/shared/uavobjectdefinition/groundtruth.xml
+++ b/shared/uavobjectdefinition/groundtruth.xml
@@ -1,8 +1,9 @@
 <xml>
     <object name="GroundTruth" singleinstance="true" settings="false">
-        <description>The updated Attitude estimation from @ref AHRSCommsModule.</description>
+        <description>Ground truth data output by a simulator.</description>
+        <field name="AccelerationXYZ" units="m/s^2" type="float" elements="3"/>
         <field name="PositionNED" units="m" type="float" elements="3"/>
-        <field name="VelocityNED" units="m" type="float" elements="3"/>
+        <field name="VelocityNED" units="m/s" type="float" elements="3"/>
         <field name="RPY" units="deg" type="float" elements="3"/>
         <field name="AngularRates" units="deg/s" type="float" elements="3"/>
         <field name="TrueAirspeed" units="m/s" type="float" elements="1"/>