px4-firmware/msg/SensorCombined.msg

# Sensor readings in SI-unit form.
# These fields are scaled and offset-compensated where possible and do not
# change with board revisions and sensor updates.

uint64 timestamp                                # time since system start (microseconds)

int32 RELATIVE_TIMESTAMP_INVALID = 2147483647   # (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid

# gyro timstamp is equal to the timestamp of the message
float32[3] gyro_rad                     # average angular rate measured in the FRD body frame XYZ-axis in rad/s over the last gyro sampling period
uint32 gyro_integral_dt                 # gyro measurement sampling period in microseconds

int32 accelerometer_timestamp_relative  # timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
float32[3] accelerometer_m_s2           # average value acceleration measured in the FRD body frame XYZ-axis in m/s^2 over the last accelerometer sampling period
uint32 accelerometer_integral_dt        # accelerometer measurement sampling period in microseconds

uint8 CLIPPING_X = 1
uint8 CLIPPING_Y = 2
uint8 CLIPPING_Z = 4

uint8 accelerometer_clipping    # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame
uint8 gyro_clipping             # bitfield indicating if there was any gyro clipping (per axis) during the integration time frame

uint8 accel_calibration_count   # Calibration changed counter. Monotonically increases whenever accelermeter calibration changes.
uint8 gyro_calibration_count    # Calibration changed counter. Monotonically increases whenever rate gyro calibration changes.
sensor_combined cleanup: remove many unneeded fields Decreases the message size from 780 to 280 bytes. In particular, all modules using sensor_combined must use the integral now. The sensor value can easily be reconstructed by dividing with dt. Voters now need to be moved into sensors module, because error count and priority is removed from the topic. Any module that requires additional data from a sensor can subscribe to the raw sensor topics. At two places, values are set to zero instead of subscribing to the raw sensors (with the assumption that no one reads them): - mavlink mavlink_highres_imu_t::abs_pressure - sdlog2: sensor temperatures 2016-06-24 07:52:16 -03:00			`# Sensor readings in SI-unit form.`
			`# These fields are scaled and offset-compensated where possible and do not`
			`# change with board revisions and sensor updates.`
Move more messages to auto-generation, work on C++ code style 2015-04-26 00:44:54 -03:00
Add gyro clipping to mirror accel clipping monitoring instances. 2022-04-22 13:43:25 -03:00			`uint64 timestamp # time since system start (microseconds)`
add timestamp field to uORB msgs; sync timestamp whenever possible 2018-08-06 21:30:05 -03:00
Add gyro clipping to mirror accel clipping monitoring instances. 2022-04-22 13:43:25 -03:00			`int32 RELATIVE_TIMESTAMP_INVALID = 2147483647 # (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid`
sensor_combined: replace accel & gyro integral with value, use float for dt Reason: the value is easier to read & handle (for example plotting). In most places the value is needed, not the integral. Note that this breaks the replay format for sdlog2 replay 2016-07-07 05:35:03 -03:00
sensors: move voting into sensors module - voting is now at a central place instead of duplicated within the estimators -> this also means that estimators that did not do voting so far, now have voting, like ekf2 - estimators requiring more than that can still subscribe to the raw sensors - allows sensors_combined to be 3 times smaller - reduces logger, memcpy (cache) & RAM overhead - all modules requiring only 1 or 2 sensor values now automatically get the voted result - this also adds voting to baro 2016-06-25 07:28:02 -03:00			`# gyro timstamp is equal to the timestamp of the message`
Add gyro clipping to mirror accel clipping monitoring instances. 2022-04-22 13:43:25 -03:00			`float32[3] gyro_rad # average angular rate measured in the FRD body frame XYZ-axis in rad/s over the last gyro sampling period`
			`uint32 gyro_integral_dt # gyro measurement sampling period in microseconds`
sensors combined message: Clean up field names 2015-08-29 19:07:19 -03:00
Add gyro clipping to mirror accel clipping monitoring instances. 2022-04-22 13:43:25 -03:00			`int32 accelerometer_timestamp_relative # timestamp + accelerometer_timestamp_relative = Accelerometer timestamp`
			`float32[3] accelerometer_m_s2 # average value acceleration measured in the FRD body frame XYZ-axis in m/s^2 over the last accelerometer sampling period`
			`uint32 accelerometer_integral_dt # accelerometer measurement sampling period in microseconds`
ekf2 handle accelerometer clipping - track clipping per IMU axis and pass through to ecl/EKF - update ecl/EKF to include delta velocity clipping changes (PX4/ecl#663) 2020-04-07 21:11:08 -03:00
			`uint8 CLIPPING_X = 1`
			`uint8 CLIPPING_Y = 2`
			`uint8 CLIPPING_Z = 4`
ekf2: properly reset IMU biases on calibration change (non-multi-EKF) - this was working in the multi-EKF case using vehicle_imu, but missing in sensor_combined 2022-04-10 12:07:01 -03:00
Add gyro clipping to mirror accel clipping monitoring instances. 2022-04-22 13:43:25 -03:00			`uint8 accelerometer_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame`
			`uint8 gyro_clipping # bitfield indicating if there was any gyro clipping (per axis) during the integration time frame`

			`uint8 accel_calibration_count # Calibration changed counter. Monotonically increases whenever accelermeter calibration changes.`
			`uint8 gyro_calibration_count # Calibration changed counter. Monotonically increases whenever rate gyro calibration changes.`