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Commit c41ca45e authored by Andrew Tridgell's avatar Andrew Tridgell
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MAVLink: clarify frame of reference for HIL_STATE

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libraries/GCS_MAVLink/message_definitions/common.xml
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...@@ -1417,18 +1417,18 @@ ...@@ -1417,18 +1417,18 @@
<field type="float" name="roll">Roll angle (rad)</field> <field type="float" name="roll">Roll angle (rad)</field>
<field type="float" name="pitch">Pitch angle (rad)</field> <field type="float" name="pitch">Pitch angle (rad)</field>
<field type="float" name="yaw">Yaw angle (rad)</field> <field type="float" name="yaw">Yaw angle (rad)</field>
<field type="float" name="rollspeed">Roll angular speed (rad/s)</field> <field type="float" name="rollspeed">Roll angular speed (rad/s) in body frame</field>
<field type="float" name="pitchspeed">Pitch angular speed (rad/s)</field> <field type="float" name="pitchspeed">Pitch angular speed (rad/s) in body frame</field>
<field type="float" name="yawspeed">Yaw angular speed (rad/s)</field> <field type="float" name="yawspeed">Yaw angular speed (rad/s) in body frame</field>
<field type="int32_t" name="lat">Latitude, expressed as * 1E7</field> <field type="int32_t" name="lat">Latitude, expressed as * 1E7</field>
<field type="int32_t" name="lon">Longitude, expressed as * 1E7</field> <field type="int32_t" name="lon">Longitude, expressed as * 1E7</field>
<field type="int32_t" name="alt">Altitude in meters, expressed as * 1000 (millimeters)</field> <field type="int32_t" name="alt">Altitude in meters, expressed as * 1000 (millimeters)</field>
<field type="int16_t" name="vx">Ground X Speed (Latitude), expressed as m/s * 100</field> <field type="int16_t" name="vx">Ground X Speed (Latitude), expressed as m/s * 100</field>
<field type="int16_t" name="vy">Ground Y Speed (Longitude), expressed as m/s * 100</field> <field type="int16_t" name="vy">Ground Y Speed (Longitude), expressed as m/s * 100</field>
<field type="int16_t" name="vz">Ground Z Speed (Altitude), expressed as m/s * 100</field> <field type="int16_t" name="vz">Ground Z Speed (Altitude), expressed as m/s * 100 (+ve down)</field>
<field type="int16_t" name="xacc">X acceleration (mg)</field> <field type="int16_t" name="xacc">X acceleration (mg) in body frame (+ve forward)</field>
<field type="int16_t" name="yacc">Y acceleration (mg)</field> <field type="int16_t" name="yacc">Y acceleration (mg) in body frame (+ve right)</field>
<field type="int16_t" name="zacc">Z acceleration (mg)</field> <field type="int16_t" name="zacc">Z acceleration (mg) in body frame (+ve down)</field>
</message> </message>
<message id="91" name="HIL_CONTROLS"> <message id="91" name="HIL_CONTROLS">
<description>Sent from autopilot to simulation. Hardware in the loop control outputs</description> <description>Sent from autopilot to simulation. Hardware in the loop control outputs</description>
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