Acceleration data is now being published to navdata as well.

msg/Navdata.msg

@@ -24,6 +24,11 @@ float32 vy
 # linear velocity (mm/sec)
 float32 vz
 
+#linear accelerations (unit: g)
+float32 ax
+float32 ay
+float32 az
+
 #time stamp
 float32 tm
 

src/ardrone_driver.cpp

@@ -53,7 +53,7 @@ void ARDroneDriver::run()
 	{
 		// For some unknown reason, sometimes the ardrone critical configurations are not applied
 		// when the commands are being sent during SDK initialization. This is a trick to send critical 
-		// configurations sometime after SDK boots up.
+		// configurations sometime after SDK boots up.  
 		if (configDone == false) 
 		{
 			configWate--;
@@ -123,9 +123,10 @@ void ARDroneDriver::publish_navdata()
 	msg.vx = navdata.vx; // mm/sec
 	msg.vy = -navdata.vy; // mm/sec
 	msg.vz = -navdata.vz; // mm/sec
-
 	msg.tm = arnavtime.time;
-
+	msg.ax = navdata_phys.phys_accs[ACC_X] / 1000.0; // g
+	msg.ay = -navdata_phys.phys_accs[ACC_Y] / 1000.0; // g
+	msg.az = -navdata_phys.phys_accs[ACC_Z] / 1000.0; // g
 	// TODO: Ideally we would be able to figure out whether we are in an emergency state
 	// using the navdata.ctrl_state bitfield with the ARDRONE_EMERGENCY_MASK flag, but
 	// it seems to always be 0.  The emergency state seems to be correlated with the

src/ardrone_sdk.cpp

@@ -3,6 +3,8 @@
 #include "video.h"
 
 navdata_demo_t navdata;
+navdata_phys_measures_t navdata_phys;
+
 navdata_time_t arnavtime;
 
 extern "C" {
@@ -20,6 +22,7 @@ extern "C" {
 
 	C_RESULT navdata_custom_process( const navdata_unpacked_t* const pnd )
 	{
+            		navdata_phys = pnd->navdata_phys_measures;
 		navdata = pnd->navdata_demo;
 		arnavtime = pnd->navdata_time;
 		return C_OK;

src/ardrone_sdk.h

@@ -36,6 +36,7 @@ extern "C" {
 #include <ardrone_tool/Navdata/ardrone_navdata_client.h>
 }
 
+extern navdata_phys_measures_t navdata_phys;
 extern navdata_demo_t navdata;
 extern navdata_time_t arnavtime;