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ArduPilot custom controller: Rename a_Kb, a_Kg -> a_b, a_g #42

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ArduPilot custom controller: Rename a_Kb, a_Kg -> a_b, a_g #42

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12 changes: 7 additions & 5 deletions ...ties/interfaces_external_programs/ArduPilot_custom_controller/ardupilotCreateInputBuses.m
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Original file line number Diff line number Diff line change
Expand Up @@ -46,12 +46,14 @@
% quaternion from NED to FRD frame (predicted and thus almost without
% delay)
measure.q_bg = euler2Quat(measure.EulerAngles);
% measured acceleration represented in NED frame, in m/s^2 (x and y
% component almost without delay; z component seems to be delayed by
% INS_ACCEL_FILTER)
measure.a_Kg = zeros(3,1);
% measured acceleration represented in NED frame, in m/s^2 (delayed by
% INS_ACCEL_FILTER; contains the acceleration due to gravity and is at
% standstill [0;0;-9.81])
measure.a_g = zeros(3,1);
% measured acceleration represented in FRD frame, in m/s^2
measure.a_Kb = zeros(3,1);
% (contains the acceleration due to gravity and is at standstill
% M_bg*[0;0;-9.81], where M_bg is the rotation matrix from g to b frame)
measure.a_b = zeros(3,1);
% velocity of FRD frame relative to the earth represented in FRD frame, in
% m/s (predicted and thus almost without delay)
measure.V_Kg = zeros(3,1);
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