forked from Archive/PX4-Autopilot
30 lines
1.7 KiB
Plaintext
30 lines
1.7 KiB
Plaintext
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#
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# Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,
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# scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
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#
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float32 gyro_x # Bias corrected angular velocity about X body axis (roll) (in rad/s)
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float32 gyro_y # Bias corrected angular velocity about Y body axis (pitch) (in rad/s)
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float32 gyro_z # Bias corrected angular velocity about Z body axis (yaw) (in rad/s)
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float32 accel_x # Bias corrected acceleration in body X axis (in rad/s)
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float32 accel_y # Bias corrected acceleration in body Y axis (in rad/s)
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float32 accel_z # Bias corrected acceleration in body Z axis (in rad/s)
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float32 mag_x # Bias corrected magnetometer reading in body X axis (in Gauss)
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float32 mag_y # Bias corrected magnetometer reading in body Y axis (in Gauss)
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float32 mag_z # Bias corrected magnetometer reading in body Z axis (in Gauss)
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# In-run bias estimates (subtract from uncorrected data)
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float32 gyro_x_bias # X gyroscope in-run bias in body frame (rad/s, x forward)
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float32 gyro_y_bias # Y gyroscope in-run bias in body frame (rad/s, y right)
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float32 gyro_z_bias # Z gyroscope in-run bias in body frame (rad/s, z down)
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float32 accel_x_bias # X accelerometer in-run bias in body frame (m/s^2, x forward)
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float32 accel_y_bias # Y accelerometer in-run bias in body frame (m/s^2, y right)
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float32 accel_z_bias # Z accelerometer in-run bias in body frame (m/s^2, z down)
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float32 mag_x_bias # X magnetometer in-run bias in body frame (Gauss, x forward)
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float32 mag_y_bias # Y magnetometer in-run bias in body frame (Gauss, y right)
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float32 mag_z_bias # Z magnetometer in-run bias in body frame (Gauss, z down)
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