px4-firmware/msg/sensor_combined.msg

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#
# 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.
#
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 XYZ body frame in rad/s over the last gyro sampling period
uint32 gyro_integral_dt # gyro measurement sampling period in us
int32 accelerometer_timestamp_relative # timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
float32[3] accelerometer_m_s2 # average value acceleration measured in the XYZ body frame in m/s/s over the last accelerometer sampling period
uint32 accelerometer_integral_dt # accelerometer measurement sampling period in us
int32 magnetometer_timestamp_relative # timestamp + magnetometer_timestamp_relative = Magnetometer timestamp
float32[3] magnetometer_ga # Magnetic field in NED body frame, in Gauss
int32 baro_timestamp_relative # timestamp + baro_timestamp_relative = Barometer timestamp
float32 baro_alt_meter # Altitude, already temp. comp.
float32 baro_temp_celcius # Temperature in degrees celsius