forked from Archive/PX4-Autopilot
101 lines
4.9 KiB
Plaintext
101 lines
4.9 KiB
Plaintext
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# Definition of the hil_sensor uORB topic.
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int32 MAGNETOMETER_MODE_NORMAL = 0
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int32 MAGNETOMETER_MODE_POSITIVE_BIAS = 1
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int32 MAGNETOMETER_MODE_NEGATIVE_BIAS = 2
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# Sensor readings in raw and SI-unit form.
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#
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# These values are read from the sensors. Raw values are in sensor-specific units,
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# the scaled values are in SI-units, as visible from the ending of the variable
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# or the comments. The use of the SI fields is in general advised, as these fields
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# are scaled and offset-compensated where possible and do not change with board
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# revisions and sensor updates.
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#
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# Actual data, this is specific to the type of data which is stored in this struct
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# A line containing L0GME will be added by the Python logging code generator to the logged dataset.
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#
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# NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only
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uint64 timestamp # Timestamp in microseconds since boot, from gyro
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#
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int16[3] gyro_raw # Raw sensor values of angular velocity
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float32[3] gyro_rad_s # Angular velocity in radian per seconds
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uint32 gyro_errcount # Error counter for gyro 0
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float32 gyro_temp # Temperature of gyro 0
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int16[3] accelerometer_raw # Raw acceleration in NED body frame
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float32[3] accelerometer_m_s2 # Acceleration in NED body frame, in m/s^2
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int16 accelerometer_mode # Accelerometer measurement mode
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float32 accelerometer_range_m_s2 # Accelerometer measurement range in m/s^2
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uint64 accelerometer_timestamp # Accelerometer timestamp
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uint32 accelerometer_errcount # Error counter for accel 0
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float32 accelerometer_temp # Temperature of accel 0
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int16[3] magnetometer_raw # Raw magnetic field in NED body frame
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float32[3] magnetometer_ga # Magnetic field in NED body frame, in Gauss
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int16 magnetometer_mode # Magnetometer measurement mode
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float32 magnetometer_range_ga # measurement range in Gauss
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float32 magnetometer_cuttoff_freq_hz # Internal analog low pass frequency of sensor
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uint64 magnetometer_timestamp # Magnetometer timestamp
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uint32 magnetometer_errcount # Error counter for mag 0
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float32 magnetometer_temp # Temperature of mag 0
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int16[3] gyro1_raw # Raw sensor values of angular velocity
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float32[3] gyro1_rad_s # Angular velocity in radian per seconds
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uint64 gyro1_timestamp # Gyro timestamp
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uint32 gyro1_errcount # Error counter for gyro 1
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float32 gyro1_temp # Temperature of gyro 1
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int16[3] accelerometer1_raw # Raw acceleration in NED body frame
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float32[3] accelerometer1_m_s2 # Acceleration in NED body frame, in m/s^2
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uint64 accelerometer1_timestamp # Accelerometer timestamp
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uint32 accelerometer1_errcount # Error counter for accel 1
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float32 accelerometer1_temp # Temperature of accel 1
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int16[3] magnetometer1_raw # Raw magnetic field in NED body frame
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float32[3] magnetometer1_ga # Magnetic field in NED body frame, in Gauss
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uint64 magnetometer1_timestamp # Magnetometer timestamp
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uint32 magnetometer1_errcount # Error counter for mag 1
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float32 magnetometer1_temp # Temperature of mag 1
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int16[3] gyro2_raw # Raw sensor values of angular velocity
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float32[3] gyro2_rad_s # Angular velocity in radian per seconds
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uint64 gyro2_timestamp # Gyro timestamp
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uint32 gyro2_errcount # Error counter for gyro 1
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float32 gyro2_temp # Temperature of gyro 1
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int16[3] accelerometer2_raw # Raw acceleration in NED body frame
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float32[3] accelerometer2_m_s2 # Acceleration in NED body frame, in m/s^2
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uint64 accelerometer2_timestamp # Accelerometer timestamp
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uint32 accelerometer2_errcount # Error counter for accel 2
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float32 accelerometer2_temp # Temperature of accel 2
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int16[3] magnetometer2_raw # Raw magnetic field in NED body frame
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float32[3] magnetometer2_ga # Magnetic field in NED body frame, in Gauss
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uint64 magnetometer2_timestamp # Magnetometer timestamp
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uint32 magnetometer2_errcount # Error counter for mag 2
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float32 magnetometer2_temp # Temperature of mag 2
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float32 baro_pres_mbar # Barometric pressure, already temp. comp.
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float32 baro_alt_meter # Altitude, already temp. comp.
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float32 baro_temp_celcius # Temperature in degrees celsius
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uint64 baro_timestamp # Barometer timestamp
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float32 baro1_pres_mbar # Barometric pressure, already temp. comp.
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float32 baro1_alt_meter # Altitude, already temp. comp.
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float32 baro1_temp_celcius # Temperature in degrees celsius
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uint64 baro1_timestamp # Barometer timestamp
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float32[10] adc_voltage_v # ADC voltages of ADC Chan 10/11/12/13 or -1
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uint16[10] adc_mapping # Channel indices of each of these values
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float32 mcu_temp_celcius # Internal temperature measurement of MCU
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float32 differential_pressure_pa # Airspeed sensor differential pressure
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uint64 differential_pressure_timestamp # Last measurement timestamp
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float32 differential_pressure_filtered_pa # Low pass filtered airspeed sensor differential pressure reading
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float32 differential_pressure1_pa # Airspeed sensor differential pressure
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uint64 differential_pressure1_timestamp # Last measurement timestamp
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float32 differential_pressure1_filtered_pa # Low pass filtered airspeed sensor differential pressure reading
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