Pr ahrs subscription and hardpoint fix#55
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PonomarevDA merged 10 commits intomainfrom May 13, 2025
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May 13, 2025
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Message example
can0 1403E865 [8] 00101101 10110111 00000000 00000000 00000000 00000000 00000000 10000000
can0 1403E865 [8] 00000000 00000000 11101000 01111001 11101000 01111001 11101000 00100000
can0 1403E865 [8] 01111001 11101000 01111001 00000000 11111000 01111001 11111000 00000000
can0 1403E865 [8] 01111001 11111000 01111001 00000000 11101000 01111001 11101000 00100000
can0 1403E865 [4] 01111001 11101000 01111001 01000000
Message transcription from dronecan_gui_tool
Message from 101 to All ts_mono=33500.913631 ts_real=1747077867.764903
timestamp:
usec: 0 # UNKNOWN
orientation_xyzw: [48384.0000, 48384.0000, 48384.0000, 48384.0000]
orientation_covariance: []
angular_velocity: [48896.0000, 48896.0000, 48896.0000]
angular_velocity_covariance: []
linear_acceleration: [48384.0000, 48384.0000, 48384.0000]
linear_acceleration_covariance: []
Solution message
first frame
00101101 10110111 00000000 00000000 00000000 00000000 00000000 1000000001011101 10110111 - Transfer payload CRC
00000000 00000000 00000000 00000000 00000000 // timestamp, start 5 bytes
10000000 // tail, 1 byte
second frame
00000000 00000000 11101000 01111001 11101000 01111001 11101000 0010000000000000 00000000 // timestamp, end 2 bytes
11101000 01111001 11101000 01111001 11101000 // orientation start, 5 bytes
00100000 // tail, 1 byte
third frame
01111001 11101000 01111001 00000000 11111000 01111001 11111000 0000000001111001 11101000 01111001 // orientation end, 3 bytes
0000 // void4, reserved
0000 // covariance len, 4 bits
11111000 01111001 11111000 // angular velocity start, 3 bytes
00000000 // tail, 1 byte
fourth frame
01111001 11111000 01111001 00000000 11101000 01111001 11101000 0010000001111001 11111000 01111001 // angular velocity end, 3 bytes
0000 // void4, reserved
0000 // covariance len, 4 bits
11101000 01111001 11101000 // linear acceleration start, 3 bytes
00100000 // tail, 1 byte
fifth frame
01111001 11101000 01111001 0100000001111001 11101000 01111001 // linear acceleration end, 3 bytes
01000000 // tail, 1 byte