# Definition of the sensor_combined uORB topic. int32 MAGNETOMETER_MODE_NORMAL = 0 int32 MAGNETOMETER_MODE_POSITIVE_BIAS = 1 int32 MAGNETOMETER_MODE_NEGATIVE_BIAS = 2 uint32 SENSOR_PRIO_MIN = 0 uint32 SENSOR_PRIO_VERY_LOW = 25 uint32 SENSOR_PRIO_LOW = 50 uint32 SENSOR_PRIO_DEFAULT = 75 uint32 SENSOR_PRIO_HIGH = 100 uint32 SENSOR_PRIO_VERY_HIGH = 125 uint32 SENSOR_PRIO_MAX = 255 # Sensor readings in raw and SI-unit form. # # These values are read from the sensors. Raw values are in sensor-specific units, # the scaled values are in SI-units, as visible from the ending of the variable # or the comments. The use of the SI fields is in general advised, as these fields # are scaled and offset-compensated where possible and do not change with board # revisions and sensor updates. # # Actual data, this is specific to the type of data which is stored in this struct # A line containing L0GME will be added by the Python logging code generator to the logged dataset. # # NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only uint64 timestamp # Timestamp in microseconds since boot, from gyro uint64[3] gyro_timestamp # Gyro timestamps int16[9] gyro_raw # Raw sensor values of angular velocity float32[9] gyro_rad_s # Angular velocity in radian per seconds uint32[3] gyro_priority # Sensor priority float32[9] gyro_integral_rad # delta angle in radians uint64[3] gyro_integral_dt # delta time for gyro integral in us uint32[3] gyro_errcount # Error counter for gyro 0 float32[3] gyro_temp # Temperature of gyro 0 int16[9] accelerometer_raw # Raw acceleration in NED body frame float32[9] accelerometer_m_s2 # Acceleration in NED body frame, in m/s^2 float32[9] accelerometer_integral_m_s # velocity in NED body frame, in m/s^2 uint64[3] accelerometer_integral_dt # delta time for accel integral in us int16[3] accelerometer_mode # Accelerometer measurement mode float32[3] accelerometer_range_m_s2 # Accelerometer measurement range in m/s^2 uint64[3] accelerometer_timestamp # Accelerometer timestamp uint32[3] accelerometer_priority # Sensor priority uint32[3] accelerometer_errcount # Error counter for accel 0 float32[3] accelerometer_temp # Temperature of accel 0 int16[9] magnetometer_raw # Raw magnetic field in NED body frame float32[9] magnetometer_ga # Magnetic field in NED body frame, in Gauss int16[3] magnetometer_mode # Magnetometer measurement mode float32[3] magnetometer_range_ga # measurement range in Gauss float32[3] magnetometer_cuttoff_freq_hz # Internal analog low pass frequency of sensor uint64[3] magnetometer_timestamp # Magnetometer timestamp uint32[3] magnetometer_priority # Sensor priority uint32[3] magnetometer_errcount # Error counter for mag 0 float32[3] magnetometer_temp # Temperature of mag 0 float32[3] baro_pres_mbar # Barometric pressure, already temp. comp. float32[3] baro_alt_meter # Altitude, already temp. comp. float32[3] baro_temp_celcius # Temperature in degrees celsius uint64[3] baro_timestamp # Barometer timestamp uint32[3] baro_priority # Sensor priority uint32[3] baro_errcount # Error count in communication float32[10] adc_voltage_v # ADC voltages of ADC Chan 10/11/12/13 or -1 uint16[10] adc_mapping # Channel indices of each of these values float32 mcu_temp_celcius # Internal temperature measurement of MCU float32[3] differential_pressure_pa # Airspeed sensor differential pressure uint64[3] differential_pressure_timestamp # Last measurement timestamp float32[3] differential_pressure_filtered_pa # Low pass filtered airspeed sensor differential pressure reading uint32[3] differential_pressure_priority # Sensor priority uint32[3] differential_pressure_errcount # Error count in communication