PosVelAttAll—载具状态量获取模块

image-20240807174743482

功能	该模块订阅了vehicle_local_position、vehicle_attitude、vehicle_angular_velocity三个uORB消息，这三个消息中的数据均为PX4中滤波之后的数据，每个消息内字段的详细定义，可以去【RflySim安装目录】\Firmware\msg目录下查看。可获取到载具的各种运动状态量。
参数
Sample Time(s)	采样时间
输入
输出
MsgBus	输出载具滤波后的状态量
使用示例	../../5.RflySimFlyCtrl/0.ApiExps/11.StateDataGatAPI/Readme.pdf

MsgBus具体协议如下：

\# Acceleration in NED frame
 
float32 ax    # North velocity derivative in NED earth-fixed frame, (metres/sec^2)
 
float32 ay    # East velocity derivative in NED earth-fixed frame, (metres/sec^2)
 
float32 az    # Down velocity derivative in NED earth-fixed frame, (metres/sec^2)
 
uint64 timestamp      # time since system start (microseconds)
 
float32[4] q        # Quaternion rotation from the FRD body frame to the NED earth frame
 
float32 Roll   # Roll in FRD coordinate system (obtained by quaternion conversion, unit: rad)
 
float32 Pitch   # Pitch in FRD coordinate system (obtained by quaternion conversion, unit: rad)
 
float32 Yaw   # Yaw in FRD coordinate system (obtained by quaternion conversion, unit: rad)
 
float32[3] xyz   # Bias corrected angular velocity about the FRD body frame XYZ-axis in rad/s