px4-firmware/msg/estimator_sensor_bias.msg

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#
# Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,
# scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
#
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
# In-run bias estimates (subtract from uncorrected data)
uint32 gyro_device_id # unique device ID for the sensor that does not change between power cycles
float32[3] gyro_bias # gyroscope in-run bias in body frame (rad/s)
float32 gyro_bias_limit # magnitude of maximum gyroscope in-run bias in body frame (rad/s)
float32[3] gyro_bias_variance
bool gyro_bias_valid
uint32 accel_device_id # unique device ID for the sensor that does not change between power cycles
float32[3] accel_bias # accelerometer in-run bias in body frame (m/s^2)
float32 accel_bias_limit # magnitude of maximum accelerometer in-run bias in body frame (m/s^2)
float32[3] accel_bias_variance
bool accel_bias_valid
uint32 mag_device_id # unique device ID for the sensor that does not change between power cycles
float32[3] mag_bias # magnetometer in-run bias in body frame (Gauss)
float32 mag_bias_limit # magnitude of maximum magnetometer in-run bias in body frame (Gauss)
float32[3] mag_bias_variance
bool mag_bias_valid