inertial_updates: 32 bit resolution on orientation messages
@@ -53,8 +53,9 @@ definitions:
id: 0x0220
short_desc: Quaternion 4 component vector
desc: |
- This message reports the quaternion vector describing the vehcile body frame's orientation
- with respect to a local-level NED frame.
+ This message reports the quaternion vector describing the vehicle body frame's orientation
+ with respect to a local-level NED frame. The components of the vector should sum to a unit
+ vector assuming that the LSB of each component as a value of 2^-31.
fields:
- tow:
type: u32
@@ -62,19 +63,19 @@ definitions:
desc: GPS Time of Week
- w:
type: s32
- units: N/A
+ units: 2^-31
desc: Real component
- x:
type: s32
- units: N/A
+ units: 2^-31
desc: 1st imaginary component
- y:
type: s32
- units: N/A
+ units: 2^-31
desc: 2nd imaginary component
- z:
type: s32
- units: N/A
+ units: 2^-31
desc: 3rd imaginary component
- acc_w:
type: float
@@ -120,16 +121,16 @@ definitions:
units: ms
desc: GPS Time of Week
- roll:
- type: s16
- units: centidegrees
+ type: s32
+ units: microdegrees
desc: rotation about the forward axis of the vehicle
- pitch:
- type: s16
- units: centidegrees
+ type: s32
+ units: microdegrees
desc: rotation about the rightward axis of the vehicle
- yaw:
- type: s16
- units: centidegrees
+ type: s32
+ units: microdegrees
desc: rotation about the downward axis of the vehicle
- var_roll:
type: float
@@ -173,16 +174,16 @@ definitions:
units: ms
desc: GPS Time of Week
- x:
- type: s16
- units: decidegrees/s
+ type: s32
+ units: microdegrees/s
desc: angular rate about x axis
- y:
- type: s16
- units: decidegrees/s
+ type: s32
+ units: microdegrees/s
desc: angular rate about y axis
- z:
- type: s16
- units: decidegrees/s
+ type: s32
+ units: microdegrees/s
desc: angular rate about z axis
- flags:
type: u8
