added more INS_EKF2 debugging options + OPTICAL_FLOW (#150)

paparazzi · Sep 15, 2021 · c6e88cc · c6e88cc
1 parent fca8d15
commit c6e88cc
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/message_definitions/v1.0/messages.xml b/message_definitions/v1.0/messages.xml
@@ -1505,8 +1505,11 @@
       <field name="innov_hgt"             type="float"/>
       <field name="innov_tas"             type="float"/>
       <field name="innov_hagl"            type="float"/>
+      <field name="innov_flow"            type="float"/>
       <field name="innov_beta"            type="float"/>
       <field name="mag_decl"              type="float" unit="deg">Magnetic declination</field>
+      <field name="terrain_status"        type="uint8" values="INVALID|VALID">terrain detection for valid for ground sensors</field>
+      <field name="dead_reckoning"        type="uint8" values="INACTIVE|ACTIVE">active if all positioning sensors fail</field>
     </message>
 
     <message name="ROTORCRAFT_CAM" id="168">
@@ -1942,6 +1945,7 @@
       <field name="flow_comp_m_y" type="float" unit="m"/>
       <field name="flow_quality" type="uint8"/>
       <field name="ground_distance" type="float" unit="m"/>
+      <field name="distance_compensated" type="float" unit="mm"/>
       <field name="distance_quality" type="uint8"/>
     </message>