Developmental Flight Test Instrumentation
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Structure to hold state data published. More...
#include <server.hh>
Public Attributes | |
quint64 | gpsTimeNs {0} |
INS GPS timestamp. | |
float | eulerDeg [3] = {0} |
INS Euler angles. | |
float | quaternion [4] = {0} |
INS quaternion. | |
float | angularRatesRPS [3] = {0} |
INS angular rates. | |
float | accelMps2 [3] = {0} |
INS accelerations. | |
float | iasMps {0} |
ADS indicated airspeed. | |
float | aoaDeg {0} |
ADS angle-of-attack. | |
float | aosDeg {0} |
ADS sideslip angle. | |
quint8 | numRIOValues {0} |
Number of RIO values (up to 10). | |
float | rioValues [STATE_DATA_SIZE] = {0} |
RIO values. | |
Structure to hold state data published.
For online system identification and similar use cases, we need the vehicle state data available. This data structure holds a minimum set of state data as a POD struct with 1 byte structure packing.
State data comes from the INS, ADS, and control effector RIOs. If these sensors are inactive values of zero are used.
The StateData structure is assumed to use the native byte order.