Add quaternion orientation to LocalizerOutput
Change-Id: I45477182ee14978754d4c3a3f9fdc45a64cd5e3e
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2022/control_loops/localizer/localizer_output.fbs b/y2022/control_loops/localizer/localizer_output.fbs
index 078d723..03abf19 100644
--- a/y2022/control_loops/localizer/localizer_output.fbs
+++ b/y2022/control_loops/localizer/localizer_output.fbs
@@ -3,6 +3,13 @@
// This provides a minimal output from the localizer that can be forwarded to
// the roborio and used for corrections to its (simpler) localizer.
+struct Quaternion {
+ w:double (id: 0);
+ x:double (id: 1);
+ y:double (id: 2);
+ z:double (id: 3);
+}
+
table LocalizerOutput {
// Timestamp (on the source node) that this sample corresponds with. This
// may be older than the sent time to account for delays in sensor readings.
@@ -12,6 +19,8 @@
y:double (id: 2);
// Current heading, in radians.
theta:double (id: 3);
+ // Current estimate of the robot's 3-D rotation.
+ orientation:Quaternion (id: 4);
}
root_type LocalizerOutput;