px4-firmware/msg/sensor_correction.msg

#
# Sensor corrections in SI-unit form for the voted sensor
#

uint64 timestamp		# time since system start (microseconds)

# Corrections for gyro angular rate outputs where corrected_rate = raw_rate * gyro_scale + gyro_offset
# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
uint32[4] gyro_device_ids
float32[3] gyro_offset_0	# gyro 0 XYZ offsets in the sensor frame in rad/s
float32[3] gyro_offset_1	# gyro 1 XYZ offsets in the sensor frame in rad/s
float32[3] gyro_offset_2	# gyro 2 XYZ offsets in the sensor frame in rad/s
float32[3] gyro_offset_3	# gyro 3 XYZ offsets in the sensor frame in rad/s

# Corrections for acceleromter acceleration outputs where corrected_accel = raw_accel * accel_scale + accel_offset
# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
uint32[4] accel_device_ids
float32[3] accel_offset_0	# accelerometer 0 offsets in the FRD board frame XYZ-axis in m/s^s
float32[3] accel_offset_1	# accelerometer 1 offsets in the FRD board frame XYZ-axis in m/s^s
float32[3] accel_offset_2	# accelerometer 2 offsets in the FRD board frame XYZ-axis in m/s^s
float32[3] accel_offset_3	# accelerometer 3 offsets in the FRD board frame XYZ-axis in m/s^s

# Corrections for barometric pressure outputs where corrected_pressure = raw_pressure * pressure_scale + pressure_offset
# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
uint32[4] baro_device_ids
float32 baro_offset_0		# barometric pressure 0 offsets in the sensor frame in Pascals
float32 baro_offset_1		# barometric pressure 1 offsets in the sensor frame in Pascals
float32 baro_offset_2		# barometric pressure 2 offsets in the sensor frame in Pascals
float32 baro_offset_3		# barometric pressure 3 offsets in the sensor frame in Pascals
msg: add uORB topic for IMU sensor corrections 2016-12-26 00:05:06 -04:00			`#`
			`# Sensor corrections in SI-unit form for the voted sensor`
			`#`

add timestamp field to uORB msgs; sync timestamp whenever possible 2018-08-06 21:30:05 -03:00			`uint64 timestamp # time since system start (microseconds)`

msg: add uORB topic for IMU sensor corrections 2016-12-26 00:05:06 -04:00			`# Corrections for gyro angular rate outputs where corrected_rate = raw_rate * gyro_scale + gyro_offset`
			`# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame`
sensors: allow up to 4 accels, gyros, and baros and add configurable rotations for accel & gyro 2020-10-08 20:01:44 -03:00			`uint32[4] gyro_device_ids`
accel and gyro calibration refactor and cleanup - remove all remaining IOCTLs for accel and gyro and handle all calibration entirely in sensors module with parameters - sensor_accel and sensor_gyro are now always raw sensor data - calibration procedures no longer need to first clear existing values before starting - temperature calibration (TC) remove all scale (SCL) parameters - gyro and baro scale are completely unused - regular accel calibration scale can be used (CAL_ACC*_xSCALE) instead of TC scale 2020-06-17 23:50:09 -03:00			`float32[3] gyro_offset_0 # gyro 0 XYZ offsets in the sensor frame in rad/s`
			`float32[3] gyro_offset_1 # gyro 1 XYZ offsets in the sensor frame in rad/s`
			`float32[3] gyro_offset_2 # gyro 2 XYZ offsets in the sensor frame in rad/s`
sensors: allow up to 4 accels, gyros, and baros and add configurable rotations for accel & gyro 2020-10-08 20:01:44 -03:00			`float32[3] gyro_offset_3 # gyro 3 XYZ offsets in the sensor frame in rad/s`
msg: add uORB topic for IMU sensor corrections 2016-12-26 00:05:06 -04:00
msg: add reporting of baro sensor corrections Also improve documentation 2017-01-02 12:15:46 -04:00			`# Corrections for acceleromter acceleration outputs where corrected_accel = raw_accel * accel_scale + accel_offset`
msg: add uORB topic for IMU sensor corrections 2016-12-26 00:05:06 -04:00			`# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame`
sensors: allow up to 4 accels, gyros, and baros and add configurable rotations for accel & gyro 2020-10-08 20:01:44 -03:00			`uint32[4] accel_device_ids`
Clarification of coordinate systems for sensors_* and vehicle_* messages (#16339) Changed all 'NED' references to 'FRD'. Also cleaned up mixing of m/s/s and m/s^2 to use the latter. Corrected m/s/s to Pascals. Plus minor typos. Also made some minor cosmetic clean ups. Co-authored-by: Robin <robin@Robins-MacBook-Pro-Work.local> Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com> 2020-12-15 04:18:05 -04:00			`float32[3] accel_offset_0 # accelerometer 0 offsets in the FRD board frame XYZ-axis in m/s^s`
			`float32[3] accel_offset_1 # accelerometer 1 offsets in the FRD board frame XYZ-axis in m/s^s`
			`float32[3] accel_offset_2 # accelerometer 2 offsets in the FRD board frame XYZ-axis in m/s^s`
			`float32[3] accel_offset_3 # accelerometer 3 offsets in the FRD board frame XYZ-axis in m/s^s`
msg: add reporting of baro sensor corrections Also improve documentation 2017-01-02 12:15:46 -04:00
			`# Corrections for barometric pressure outputs where corrected_pressure = raw_pressure * pressure_scale + pressure_offset`
			`# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame`
sensors: allow up to 4 accels, gyros, and baros and add configurable rotations for accel & gyro 2020-10-08 20:01:44 -03:00			`uint32[4] baro_device_ids`
Clarification of coordinate systems for sensors_* and vehicle_* messages (#16339) Changed all 'NED' references to 'FRD'. Also cleaned up mixing of m/s/s and m/s^2 to use the latter. Corrected m/s/s to Pascals. Plus minor typos. Also made some minor cosmetic clean ups. Co-authored-by: Robin <robin@Robins-MacBook-Pro-Work.local> Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com> 2020-12-15 04:18:05 -04:00			`float32 baro_offset_0 # barometric pressure 0 offsets in the sensor frame in Pascals`
			`float32 baro_offset_1 # barometric pressure 1 offsets in the sensor frame in Pascals`
			`float32 baro_offset_2 # barometric pressure 2 offsets in the sensor frame in Pascals`
			`float32 baro_offset_3 # barometric pressure 3 offsets in the sensor frame in Pascals`