[hitl] update messages for new HITL

messages for all low level sensors for hardware in the loop simulation
paparazzi · Oct 25, 2023 · d5618a6 · d5618a6
1 parent 87797bd
commit d5618a6
Showing 1 changed file with 42 additions and 14 deletions.
diff --git a/message_definitions/v1.0/messages.xml b/message_definitions/v1.0/messages.xml
@@ -2356,20 +2356,6 @@
       <field name="ac_id" type="uint8"/>
     </message>
 
-    <message name="HITL_UBX" id="6" link="forwarded">
-      <field name="class" type="uint8"/>
-      <field name="id" type="uint8"/>
-      <field name="ac_id" type="uint8"/>
-      <field name="ubx_payload" type="uint8[]"/>
-    </message>
-
-    <message name="HITL_INFRARED" id="7" link="forwarded">
-      <field name="roll" type="int16"/>
-      <field name="pitch" type="int16"/>
-      <field name="top" type="int16"/>
-      <field name="ac_id" type="uint8"/>
-    </message>
-
     <message name="PING" id="8"/>
 
     <message name="FORMATION_SLOT" id="9" link="broadcasted">
@@ -2753,6 +2739,48 @@
       <field name="t_diff_V_raw" type="float" unit="Celcius">raw temperature for vertical sensor</field>
     </message>
 
+    <message name="HITL_IMU" id="70" link="forwarded">
+      <field name="gp" type="float" unit="rad/s" alt_unit="deg/s"/>
+      <field name="gq" type="float" unit="rad/s" alt_unit="deg/s"/>
+      <field name="gr" type="float" unit="rad/s" alt_unit="deg/s"/>
+      <field name="ax" type="float" unit="m/s-2"/>
+      <field name="ay" type="float" unit="m/s-2"/>
+      <field name="az" type="float" unit="m/s-2"/>
+      <field name="mx" type="float" />
+      <field name="my" type="float" />
+      <field name="mz" type="float" />
+      <field name="ac_id" type="uint8"/>
+    </message>
+
+    <message name="HITL_GPS" id="71" link="forwarded">
+      <field name="lat" type="float" unit="deg"/>
+      <field name="lon" type="float" unit="deg"/>
+      <field name="alt" type="float" unit="m">ellipsoid alt</field>
+      <field name="hmsl" type="float" unit="m">geoid alt</field>
+      <field name="ecef_vel_x" type="float" unit="m/s"/>
+      <field name="ecef_vel_y" type="float" unit="m/s"/>
+      <field name="ecef_vel_z" type="float" unit="m/s"/>
+      <field name="time" type="float" unit="s"/>
+      <field name="fix" type="uint8"/>
+      <field name="ac_id" type="uint8"/>
+    </message>
+
+    <message name="HITL_UBX" id="72" link="forwarded">
+      <field name="class" type="uint8"/>
+      <field name="id" type="uint8"/>
+      <field name="ac_id" type="uint8"/>
+      <field name="ubx_payload" type="uint8[]"/>
+    </message>
+
+    <message name="HITL_AIR_DATA" id="73" link="forwarded">
+      <field name="baro" type="float" unit="Pa"/>
+      <field name="airspeed" type="float" unit="m/s"/>
+      <field name="aoa" type="float" unit="rad"/>
+      <field name="sideslip" type="float" unit="rad"/>
+      <field name="update_flag" type="uint8">bit 0: baro, bit 1: airspeed, bit 2: aoa, bit 3: sideslip</field>
+      <field name="ac_id" type="uint8"/>
+    </message>
+
     <message name="KITE_COMMAND" id="96">
       <field name="POWER"     type="uint16"/>
       <field name="TURN"      type="uint16"/>