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rosflight / mavlink

MAVLink micro air vehicle marshalling / communication library
http://qgroundcontrol.org/mavlink/start
GNU Lesser General Public License v3.0
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Change IMU timestamp field to us since boot #3

Closed dpkoch closed 8 years ago

dpkoch commented 8 years ago

This is linked to BYU-MAGICC/ROSflight2#34

superjax commented 8 years ago

Ah! you made a pull request of this.

Let me know what you think about my comments.

dpkoch commented 8 years ago

@superjax Oh, yeah that was supposed to be a uint32_t, just a typo. I'll fix that.

So yeah we could add a temperature field. I suppose the only time that'll get used is for the temperature calibration? At other times the compensation will be done on board so we won't use that field on the ROS side I think. But there's probably not a good way to do the calibration otherwise, so are we okay with having that overhead to enable the calibration?

superjax commented 8 years ago

I guess the only alternative is to publish the temperature as a separate message. I'm not entirely opposed to that either, especially if we can guarantee that the temperature comes before the IMU message on the mavlink side, then the ROS side should work just fine, with a shared temperature variable. It just makes it more complicated.

I don't know. I'm hesitant to add so much complexity for the sake of bandwidth. (especially with the streaming rates we've been seeing lately)