[paparazzi-commits] [4364] Add BOOZ2_AHRS_REF_QUAT for sending reference and body quaternion telemetry

[Allen Ibara]

Revision: 4364
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4364
Author:   aibara
Date:     2009-12-08 07:07:17 +0000 (Tue, 08 Dec 2009)
Log Message:
-----------
Add BOOZ2_AHRS_REF_QUAT for sending reference and body quaternion telemetry 

Modified Paths:
--------------
    paparazzi3/trunk/conf/messages.xml

Modified: paparazzi3/trunk/conf/messages.xml
===================================================================
--- paparazzi3/trunk/conf/messages.xml  2009-12-08 07:06:11 UTC (rev 4363)
+++ paparazzi3/trunk/conf/messages.xml  2009-12-08 07:07:17 UTC (rev 4364)
@@ -1243,6 +1243,17 @@
     <field name="pan" type="int16" unit="2^12rad" alt_unit="degres" 
alt_unit_coef="0.0139882"/>
   </message>
 
+  <message name="BOOZ2_AHRS_REF_QUAT" id="169">
+    <field name="ref_qi"  type="float"/>
+    <field name="ref_qx"  type="float"/>
+    <field name="ref_qy"  type="float"/>
+    <field name="ref_qz"  type="float"/>
+    <field name="body_qi" type="float"/>
+    <field name="body_qx" type="float"/>
+    <field name="body_qy" type="float"/>
+    <field name="body_qz" type="float"/>
+  </message>
+
   <message name="WT" id="175">
     <field name="rpm"      type="float"/>
   </message>
@@ -1388,7 +1399,8 @@
     </message>
 
     <message name="VANE_SENSOR" id="191">
-      <field name="angle1"    type="float" unit="rad" alt_unit="deg" 
alt_unit_coef="57.3"/>
+      <field name="alpha"   type="float" unit="rad" alt_unit="deg" 
alt_unit_coef="57.3"/>
+      <field name="beta"    type="float" unit="rad" alt_unit="deg" 
alt_unit_coef="57.3"/>
     </message>
 
     <message name="CONTROLLER_GAINS" id="192">