forked from Archive/PX4-Autopilot
msg: add uORB topic for IMU sensor corrections
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@ -89,6 +89,7 @@ set(msg_file_names
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sensor_accel.msg
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sensor_baro.msg
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sensor_combined.msg
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sensor_correction.msg
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sensor_gyro.msg
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sensor_mag.msg
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sensor_preflight.msg
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@ -0,0 +1,15 @@
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#
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# Sensor corrections in SI-unit form for the voted sensor
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#
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# Corrections for gyro angular rate outputs where corrected_rate = raw_rate * gyro_scale + gyro_offset
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# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
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uint8 gyro_select # gyro uORB index for the voted sensor
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float32[3] gyro_offset # gyro XYZ offsets in the sensor frame in rad/s
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float32[3] gyro_scale # gyro XYZ scale factors in the sensor frame
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# Corrections for acceleromter acceleration outputs where corrected_accel = raw_aaccel * accel_scale + accel_offset
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# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
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uint8 accel_select # accelerometer uORB index for the voted sensor
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float32[3] accel_offset # accelerometer XYZ offsets in the sensor frame in m/s/s
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float32[3] accel_scale # accelerometer XYZ scale factors in the sensor frame
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