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Remove covariance msgs, too large.
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@jgoppert @TSC21
jgoppert authored and TSC21 committed Mar 27, 2018
1 parent 02a0364 commit 8570d36
Showing 1 changed file with 20 additions and 27 deletions.
47 changes: 20 additions & 27 deletions message_definitions/v1.0/common.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4835,6 +4835,24 @@
<field type="uint8_t" name="increment" units="deg">Angular width in degrees of each array element.</field>
<field type="uint16_t" name="min_distance" units="cm">Minimum distance the sensor can measure in centimeters.</field>
<field type="uint16_t" name="max_distance" units="cm">Maximum distance the sensor can measure in centimeters.</field>
</message>
<message id="331" name="ODOMETRY">
<description>Odometry message to communicate odometry information with an external interface. Fits ROS REP 147 standard for aerial vehicles (http://www.ros.org/reps/rep-0147.html).</description>
<field type="uint8_t" name="frame_id" enum="MAV_FRAME">Coordinate frame of reference for the pose data, as defined by MAV_FRAME enum.</field>
<field type="uint8_t" name="child_frame_id" enum="MAV_FRAME">Coordinate frame of reference for the velocity in free space (twist) data, as defined by MAV_FRAME enum.</field>
<field type="float" name="x" units="m">X Position</field>
<field type="float" name="y" units="m">Y Position</field>
<field type="float" name="z" units="m">Z Position</field>
<field type="float[4]" name="q">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)</field>
<field type="float" name="vx" units="m/s">X linear speed</field>
<field type="float" name="vy" units="m/s">Y linear speed</field>
<field type="float" name="vz" units="m/s">Z linear speed</field>
<field type="float" name="rollspeed" units="rad/s">Roll angular speed</field>
<field type="float" name="pitchspeed" units="rad/s">Pitch angular speed</field>
<field type="float" name="yawspeed" units="rad/s">Yaw angular speed</field>
<field type="float[21]" name="pose_covariance">Pose (states: x, y, z, roll, pitch, yaw) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)</field>
<field type="float[21]" name="twist_covariance">Twist (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)</field>
</message>
<message id="335" name="ESTIMATOR_STATE">
<description>An estimator agnostic state message</description>
<field type="uint64_t" name="time_usec" units="us">Timestamp (microseconds since system boot or since UNIX epoch)</field>
Expand All @@ -4851,23 +4869,15 @@
<field type="uint8_t[21]" name="sensor" enum="MAV_SENSOR_TYPE">An array describing the sensor associated with the field (see MAV_SENSOR_TYPE)</field>
<field type="float[21]" name="std">The estimator state standard deviation sqrt(diag(P))</field>
</message>
<message id="337" name="ESTIMATOR_STATE_COV">
<description>An estimator agnostic state covariance message. Note: Very large, not meant for use over radio.</description>
<field type="uint64_t" name="time_usec" units="us">Timestamp (microseconds since system boot or since UNIX epoch)</field>
<field type="uint8_t" name="n">Number of states, max 21, limited by mavlink protocol</field>
<field type="uint8_t[21]" name="id" enum="MAV_FIELD">An array describing field type (see MAV_FIELD)</field>
<field type="uint8_t[21]" name="sensor" enum="MAV_SENSOR_TYPE">An array describing the sensor associated with the field (see MAV_SENSOR_TYPE)</field>
<field type="float[210]" name="cov">The estimator covariance matrix (upper triangle), horizontally stacked with lengths [n, n-1, n-2, ..., 1]</field>
</message>
<message id="338" name="ESTIMATOR_INNOV">
<message id="337" name="ESTIMATOR_INNOV">
<description>An estimator agnostic innovation message</description>
<field type="uint64_t" name="time_usec" units="us">Timestamp (microseconds since system boot or since UNIX epoch)</field>
<field type="uint8_t" name="n">Number of innovations, max 21</field>
<field type="uint8_t[21]" name="id" enum="MAV_FIELD">An array describing field type (see MAV_FIELD)</field>
<field type="uint8_t[21]" name="sensor" enum="MAV_SENSOR_TYPE">An array describing the sensor associated with the field (see MAV_SENSOR_TYPE)</field>
<field type="float[21]" name="innov">The estimator innovation</field>
</message>
<message id="339" name="ESTIMATOR_INNOV_STD">
<message id="338" name="ESTIMATOR_INNOV_STD">
<description>An estimator agnostic innovation standard deviation message</description>
<field type="uint64_t" name="time_usec" units="us">Timestamp (microseconds since system boot or since UNIX epoch)</field>
<field type="uint8_t" name="n">Number of innovations, max 21</field>
Expand All @@ -4883,22 +4893,5 @@
<field type="uint8_t[21]" name="sensor" enum="MAV_SENSOR_TYPE">An array describing the sensor associated with the field (see MAV_SENSOR_TYPE)</field>
<field type="float[210]" name="cov">The estimator covariance matrix (upper triangle), horizontally stacked with lengths [n, n-1, n-2, ..., 1]</field>
</message>
<message id="331" name="ODOMETRY">
<description>Odometry message to communicate odometry information with an external interface. Fits ROS REP 147 standard for aerial vehicles (http://www.ros.org/reps/rep-0147.html).</description>
<field type="uint8_t" name="frame_id" enum="MAV_FRAME">Coordinate frame of reference for the pose data, as defined by MAV_FRAME enum.</field>
<field type="uint8_t" name="child_frame_id" enum="MAV_FRAME">Coordinate frame of reference for the velocity in free space (twist) data, as defined by MAV_FRAME enum.</field>
<field type="float" name="x" units="m">X Position</field>
<field type="float" name="y" units="m">Y Position</field>
<field type="float" name="z" units="m">Z Position</field>
<field type="float[4]" name="q">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)</field>
<field type="float" name="vx" units="m/s">X linear speed</field>
<field type="float" name="vy" units="m/s">Y linear speed</field>
<field type="float" name="vz" units="m/s">Z linear speed</field>
<field type="float" name="rollspeed" units="rad/s">Roll angular speed</field>
<field type="float" name="pitchspeed" units="rad/s">Pitch angular speed</field>
<field type="float" name="yawspeed" units="rad/s">Yaw angular speed</field>
<field type="float[21]" name="pose_covariance">Pose (states: x, y, z, roll, pitch, yaw) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)</field>
<field type="float[21]" name="twist_covariance">Twist (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)</field>
</message>
</messages>
</mavlink>

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