2017-09-21 17:24:53 -03:00
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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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2018-08-06 21:30:05 -03:00
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uint64 timestamp # time since system start (microseconds)
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2017-09-21 17:24:53 -03:00
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# In-run bias estimates (subtract from uncorrected data)
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2019-08-07 06:05:48 -03:00
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float32[3] gyro_bias # gyroscope in-run bias in body frame (rad/s)
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2017-09-21 17:24:53 -03:00
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2019-08-07 06:05:48 -03:00
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float32[3] accel_bias # accelerometer in-run bias in body frame (m/s^2)
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2017-09-21 17:24:53 -03:00
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2019-08-07 06:05:48 -03:00
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float32[3] mag_bias # magnetometer in-run bias in body frame (Gauss)
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