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px4-firmware/msg/estimator_sensor_bias.msg

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delete control_state and cleanup vehicle_attitude (#7882)
2017-09-21 17:24:53 -03:00
#
# Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,
# scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
#
estimated IMU bias preflight checks - commander preflightcheck use estimator_sensor_bias message instead of EKF state index magic number - ekf2 publish estimated bias limits in estimator_sensor_bias - preflightcheck only error if bias estimate exceeds half of configured limit (delete COM_ARM_EKF_AB and COM_ARM_EKF_GB parameters)
2021-01-07 14:23:59 -04:00
uint64 timestamp # time since system start (microseconds)
estimator messages add explicit timestamp_sample - timestamp is uORB publication metadata - this allows us to see what the system saw at publication time plus the latency in estimation
2020-09-01 15:38:41 -03:00
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
add timestamp field to uORB msgs; sync timestamp whenever possible
2018-08-06 21:30:05 -03:00
delete control_state and cleanup vehicle_attitude (#7882)
2017-09-21 17:24:53 -03:00
# In-run bias estimates (subtract from uncorrected data)
estimated IMU bias preflight checks - commander preflightcheck use estimator_sensor_bias message instead of EKF state index magic number - ekf2 publish estimated bias limits in estimator_sensor_bias - preflightcheck only error if bias estimate exceeds half of configured limit (delete COM_ARM_EKF_AB and COM_ARM_EKF_GB parameters)
2021-01-07 14:23:59 -04:00
uint32 gyro_device_id # unique device ID for the sensor that does not change between power cycles
float32[3] gyro_bias # gyroscope in-run bias in body frame (rad/s)
float32 gyro_bias_limit # magnitude of maximum gyroscope in-run bias in body frame (rad/s)
estimator_sensor_bias: add bias variance
2020-09-01 15:47:31 -03:00
float32[3] gyro_bias_variance
save learned mag bias per sensor (Multi-EKF support) - handle saving the mag bias per sensor (across all estimator instances using that mag) in sensors/vehicle_magnetometer - this is now saving back to the actual mag calibration CAL_MAGn_OFF{X,Y,Z} - ekf2 reset mag mag bias on any magnetometer or calibration change - use Kalman filter scheme to update stored mag bias parameters using all available bias estimates for that sensor Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
2021-01-07 10:54:13 -04:00
bool gyro_bias_valid
save significant IMU bias changes learned by the EKF * ekf2: make publishing of learned accel biases more robust * ekf2: reset accel bias if calibration updated * msg: add separate accel and gyro calibration counters * ekf2: use separate accel and gyro calibration counters * ekf2: rework logic to reset biases when calibration counters increment * sensors: add saving of learned accel biases * ekf2: generalized saving accel/gyro/mag in flight sensor calibration * boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
2021-11-07 16:34:27 -04:00
bool gyro_bias_stable # true when the gyro bias estimate is stable enough to use for calibration
delete control_state and cleanup vehicle_attitude (#7882)
2017-09-21 17:24:53 -03:00
estimated IMU bias preflight checks - commander preflightcheck use estimator_sensor_bias message instead of EKF state index magic number - ekf2 publish estimated bias limits in estimator_sensor_bias - preflightcheck only error if bias estimate exceeds half of configured limit (delete COM_ARM_EKF_AB and COM_ARM_EKF_GB parameters)
2021-01-07 14:23:59 -04:00
uint32 accel_device_id # unique device ID for the sensor that does not change between power cycles
float32[3] accel_bias # accelerometer in-run bias in body frame (m/s^2)
float32 accel_bias_limit # magnitude of maximum accelerometer in-run bias in body frame (m/s^2)
estimator_sensor_bias: add bias variance
2020-09-01 15:47:31 -03:00
float32[3] accel_bias_variance
save learned mag bias per sensor (Multi-EKF support) - handle saving the mag bias per sensor (across all estimator instances using that mag) in sensors/vehicle_magnetometer - this is now saving back to the actual mag calibration CAL_MAGn_OFF{X,Y,Z} - ekf2 reset mag mag bias on any magnetometer or calibration change - use Kalman filter scheme to update stored mag bias parameters using all available bias estimates for that sensor Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
2021-01-07 10:54:13 -04:00
bool accel_bias_valid
save significant IMU bias changes learned by the EKF * ekf2: make publishing of learned accel biases more robust * ekf2: reset accel bias if calibration updated * msg: add separate accel and gyro calibration counters * ekf2: use separate accel and gyro calibration counters * ekf2: rework logic to reset biases when calibration counters increment * sensors: add saving of learned accel biases * ekf2: generalized saving accel/gyro/mag in flight sensor calibration * boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
2021-11-07 16:34:27 -04:00
bool accel_bias_stable # true when the accel bias estimate is stable enough to use for calibration
delete control_state and cleanup vehicle_attitude (#7882)
2017-09-21 17:24:53 -03:00
estimated IMU bias preflight checks - commander preflightcheck use estimator_sensor_bias message instead of EKF state index magic number - ekf2 publish estimated bias limits in estimator_sensor_bias - preflightcheck only error if bias estimate exceeds half of configured limit (delete COM_ARM_EKF_AB and COM_ARM_EKF_GB parameters)
2021-01-07 14:23:59 -04:00
uint32 mag_device_id # unique device ID for the sensor that does not change between power cycles
float32[3] mag_bias # magnetometer in-run bias in body frame (Gauss)
float32 mag_bias_limit # magnitude of maximum magnetometer in-run bias in body frame (Gauss)
estimator_sensor_bias: add bias variance
2020-09-01 15:47:31 -03:00
float32[3] mag_bias_variance
save learned mag bias per sensor (Multi-EKF support) - handle saving the mag bias per sensor (across all estimator instances using that mag) in sensors/vehicle_magnetometer - this is now saving back to the actual mag calibration CAL_MAGn_OFF{X,Y,Z} - ekf2 reset mag mag bias on any magnetometer or calibration change - use Kalman filter scheme to update stored mag bias parameters using all available bias estimates for that sensor Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
2021-01-07 10:54:13 -04:00
bool mag_bias_valid
save significant IMU bias changes learned by the EKF * ekf2: make publishing of learned accel biases more robust * ekf2: reset accel bias if calibration updated * msg: add separate accel and gyro calibration counters * ekf2: use separate accel and gyro calibration counters * ekf2: rework logic to reset biases when calibration counters increment * sensors: add saving of learned accel biases * ekf2: generalized saving accel/gyro/mag in flight sensor calibration * boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
2021-11-07 16:34:27 -04:00
bool mag_bias_stable # true when the mag bias estimate is stable enough to use for calibration