From 9599f58c5df8fe8512b406a9096a71f39837bca7 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Mon, 26 Dec 2016 15:05:06 +1100 Subject: [PATCH] msg: add uORB topic for IMU sensor corrections --- msg/CMakeLists.txt | 1 + msg/sensor_correction.msg | 15 +++++++++++++++ 2 files changed, 16 insertions(+) create mode 100644 msg/sensor_correction.msg diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt index 1ed3ef568b..c11371d671 100644 --- a/msg/CMakeLists.txt +++ b/msg/CMakeLists.txt @@ -89,6 +89,7 @@ set(msg_file_names sensor_accel.msg sensor_baro.msg sensor_combined.msg + sensor_correction.msg sensor_gyro.msg sensor_mag.msg sensor_preflight.msg diff --git a/msg/sensor_correction.msg b/msg/sensor_correction.msg new file mode 100644 index 0000000000..f47fa930fc --- /dev/null +++ b/msg/sensor_correction.msg @@ -0,0 +1,15 @@ +# +# Sensor corrections in SI-unit form for the voted sensor +# + +# 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 +uint8 gyro_select # gyro uORB index for the voted sensor +float32[3] gyro_offset # gyro XYZ offsets in the sensor frame in rad/s +float32[3] gyro_scale # gyro XYZ scale factors in the sensor frame + +# Corrections for acceleromter acceleration outputs where corrected_accel = raw_aaccel * 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 +uint8 accel_select # accelerometer uORB index for the voted sensor +float32[3] accel_offset # accelerometer XYZ offsets in the sensor frame in m/s/s +float32[3] accel_scale # accelerometer XYZ scale factors in the sensor frame