From d2f9a705ea6a0738e7de4a27df593fe12de4a7d9 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 3 Dec 2012 23:31:34 +1100 Subject: [PATCH] MAVLink: clarify frame of reference for HIL_STATE --- .../GCS_MAVLink/message_definitions/common.xml | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/libraries/GCS_MAVLink/message_definitions/common.xml b/libraries/GCS_MAVLink/message_definitions/common.xml index 2a052f0cf3..78a622136d 100644 --- a/libraries/GCS_MAVLink/message_definitions/common.xml +++ b/libraries/GCS_MAVLink/message_definitions/common.xml @@ -1417,18 +1417,18 @@ Roll angle (rad) Pitch angle (rad) Yaw angle (rad) - Roll angular speed (rad/s) - Pitch angular speed (rad/s) - Yaw angular speed (rad/s) + Roll angular speed (rad/s) in body frame + Pitch angular speed (rad/s) in body frame + Yaw angular speed (rad/s) in body frame Latitude, expressed as * 1E7 Longitude, expressed as * 1E7 Altitude in meters, expressed as * 1000 (millimeters) Ground X Speed (Latitude), expressed as m/s * 100 Ground Y Speed (Longitude), expressed as m/s * 100 - Ground Z Speed (Altitude), expressed as m/s * 100 - X acceleration (mg) - Y acceleration (mg) - Z acceleration (mg) + Ground Z Speed (Altitude), expressed as m/s * 100 (+ve down) + X acceleration (mg) in body frame (+ve forward) + Y acceleration (mg) in body frame (+ve right) + Z acceleration (mg) in body frame (+ve down) Sent from autopilot to simulation. Hardware in the loop control outputs