added ins body velocity uncertainty

hytech-racing · May 26, 2024 · 81a4a93 · 81a4a93
1 parent 67dffc1
commit 81a4a93
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/PCAN_project/hytech.sym b/PCAN_project/hytech.sym
@@ -580,6 +580,7 @@ Sig=num_com_sats_pvt unsigned 8
 Sig=num_com_sats_rtk unsigned 8
 Sig=highest_cn0_2 unsigned 8
 Sig=controller_max_yaw_nl_accel_perc unsigned 4 /u:Nm /f:0.1
+Sig=vn_vel_uncertainty unsigned 16 /f:0.0005
 
 {SENDRECEIVE}
 
@@ -1355,11 +1356,12 @@ Sig=shutdown_status 0
 Sig=tcu_recording_state 16
 
 [VN_VEL]
-ID=0D0h
+ID=0D0h // Vehicle body velocity measured by VN-300
 Len=8
 Sig=vn_body_vel_x 0
 Sig=vn_body_vel_y 16
 Sig=vn_body_vel_z 32
+Sig=vn_vel_uncertainty 48
 
 [VN_LINEAR_ACCEL]
 ID=0D1h