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Code Issues Releases Activity

Added body-frame acceleration to ground truth UAVO and to flight simulator output.

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Conflicts:

	shared/uavobjectdefinition/groundtruth.xml
This commit is contained in:
Laura Sebesta 2012-10-23 11:50:00 +02:00
parent 433d723251
commit 5e785d4524
2 changed files with 7 additions and 2 deletions
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4
ground/openpilotgcs/src/plugins/hitl/simulator.cpp
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@ -431,6 +431,10 @@ void Simulator::updateUAVOs(Output2Hardware out){
GroundTruth::DataFields groundTruthData; GroundTruth::DataFields groundTruthData;
groundTruthData = groundTruth->getData(); 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[0]=out.rollRate;
groundTruthData.AngularRates[1]=out.pitchRate; groundTruthData.AngularRates[1]=out.pitchRate;
groundTruthData.AngularRates[2]=out.yawRate; groundTruthData.AngularRates[2]=out.yawRate;

5
shared/uavobjectdefinition/groundtruth.xml
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@ -1,8 +1,9 @@
<xml> <xml>
<object name="GroundTruth" singleinstance="true" settings="false"> <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="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="RPY" units="deg" type="float" elements="3"/>
<field name="AngularRates" units="deg/s" type="float" elements="3"/> <field name="AngularRates" units="deg/s" type="float" elements="3"/>
<field name="TrueAirspeed" units="m/s" type="float" elements="1"/> <field name="TrueAirspeed" units="m/s" type="float" elements="1"/>