From df3ef3660b9d3e03f5746b4eac9f8f0f7ba4d850 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Fri, 3 Mar 2017 08:25:02 +0100 Subject: [PATCH] ekf2_timestamps.msg: add new message with ekf2 timestamps --- msg/CMakeLists.txt | 1 + msg/ekf2_timestamps.msg | 24 ++++++++++++++++++++++++ 2 files changed, 25 insertions(+) create mode 100644 msg/ekf2_timestamps.msg diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt index 71223972c1..659977c9b8 100644 --- a/msg/CMakeLists.txt +++ b/msg/CMakeLists.txt @@ -50,6 +50,7 @@ set(msg_file_names distance_sensor.msg ekf2_innovations.msg ekf2_replay.msg + ekf2_timestamps.msg esc_report.msg esc_status.msg estimator_status.msg diff --git a/msg/ekf2_timestamps.msg b/msg/ekf2_timestamps.msg new file mode 100644 index 0000000000..b1b92a31fe --- /dev/null +++ b/msg/ekf2_timestamps.msg @@ -0,0 +1,24 @@ +# this message contains the (relative) timestamps of the sensor inputs used by +# ekf2. It can be used for reproducible replay. + +# timestamp # ekf2 reference time. This matches the timestamp of the + # sensor_combined topic. + + +int16 RELATIVE_TIMESTAMP_INVALID = 32767 # (0x7fff) If one of the relative timestamps + # is set to this value, it means the associated sensor values did not update + +# timestamps are relative to the main timestamp and are in 0.1 ms (timestamp + +# *_timestamp_rel = absolute timestamp). For int16, this allows a maximum +# difference of +-3.2s to the sensor_combined topic. + + +int16 gps_timestamp_rel +int16 optical_flow_timestamp_rel +int16 distance_sensor_timestamp_rel +int16 airspeed_timestamp_rel +int16 vision_position_timestamp_rel +int16 vision_attitude_timestamp_rel + +# Note: this is a high-rate logged topic, so it needs to be as small as possible +