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msg: add reporting of baro sensor corrections

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Also improve documentation
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Paul Riseborough 2017-01-02 17:15:46 +01:00 committed by Lorenz Meier
parent c2fc283fdb
commit 137bd73ea1
2 changed files with 10 additions and 4 deletions
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6
msg/sensor_baro.msg
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@ -1,5 +1,5 @@
float32 pressure
float32 altitude
float32 temperature
float32 pressure # static pressure measurement in millibar
float32 altitude # ISA pressure altitude in meters
float32 temperature # static temperature measurement in deg C
uint64 error_count
uint32 device_id # Sensor ID that must be unique for each baro sensor and must not change

8
msg/sensor_correction.msg
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@ -8,8 +8,14 @@ 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
# Corrections for acceleromter acceleration outputs where corrected_accel = raw_accel * 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
# Corrections for barometric pressure outputs where corrected_pressure = raw_pressure * pressure_scale + pressure_offset
# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
uint8 baro_select # barometric pressure uORB index for the voted sensor
float32 baro_offset # barometric pressure offsets in the sensor frame in m/s/s
float32 baro_scale # barometric pressure scale factors in the sensor frame