From f1a016108cc39ddada1ec31576bbffc1785f9942 Mon Sep 17 00:00:00 2001
From: Freek van Tienen <freek.v.tienen@gmail.com>
Date: Wed, 27 Mar 2019 15:40:32 -0700
Subject: [PATCH] More EKF2 debugging options

---
 message_definitions/v1.0/messages.xml | 24 ++++++++++++++++++++++--
 1 file changed, 22 insertions(+), 2 deletions(-)

diff --git a/message_definitions/v1.0/messages.xml b/message_definitions/v1.0/messages.xml
index 35e0aa1..08a8c85 100644
--- a/message_definitions/v1.0/messages.xml
+++ b/message_definitions/v1.0/messages.xml
@@ -1457,6 +1457,7 @@
       <field name="innov_tas"             type="float"/>
       <field name="innov_hagl"            type="float"/>
       <field name="innov_beta"            type="float"/>
+      <field name="mag_decl"              type="float" unit="deg">Magnetic declination</field>
     </message>
 
     <message name="ROTORCRAFT_CAM" id="168">
@@ -1475,8 +1476,27 @@
       <field name="body_qz" type="int32"/>
     </message>
 
-    <!-- 170 is free -->
-    <!-- 171 is free -->
+    <message name="INS_EKF2_EXT" id="170">
+      <field name="gps_drift_h" type="float" unit="m/s">Horizontal position drift rate (m/s)</field>
+      <field name="gps_drift_v" type="float" unit="m/s">Vertical position drift rate (m/s)</field>
+      <field name="gps_drift_h_filt" type="float" unit="m/s">Filtered horizontal velocity (m/s)</field>
+      <field name="gps_drift_blocked" type="uint8">The GPS drift calculation is blocked</field>
+      <field name="gyro_vibe_coning" type="float">Gyro delta angle coning metric = filtered length of (delta_angle x prev_delta_angle)</field>
+      <field name="gyro_vibe_hf" type="float">Gyro high frequency vibe = filtered length of (delta_angle - prev_delta_angle)</field>
+      <field name="accel_vibe_hf" type="float">Accel high frequency vibe = filtered length of (delta_velocity - prev_delta_velocity)</field>
+    </message>
+
+    <message name="AHRS_BIAS" id="171">
+      <field name="accel_x" type="float" unit="m/s^2">Accelerometer bias x-axis</field>
+      <field name="accel_y" type="float" unit="m/s^2">Accelerometer bias y-axis</field>
+      <field name="accel_z" type="float" unit="m/s^2">Accelerometer bias z-axis</field>
+      <field name="gyro_p" type="float" unit="rad/sec">Gyrometer bias roll rate</field>
+      <field name="gyro_q" type="float" unit="rad/sec">Gyrometer bias pitch rate</field>
+      <field name="gyro_r" type="float" unit="rad/sec">Gyrometer bias yaw rate</field>
+      <field name="mag_x" type="float" unit="mGauss">Magnetometer x-bias in mGauss</field>
+      <field name="mag_y" type="float" unit="mGauss">Magnetometer y-bias in mGauss</field>
+      <field name="mag_z" type="float" unit="mGauss">Magnetometer z-bias in mGauss</field>
+    </message>
     <!-- 172 is free -->
 
     <message name="AHRS_EULER" id="173">