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msg: publish thermal corrections for all sensors

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This commit is contained in:
Paul Riseborough
2017-01-20 21:40:46 +11:00
committed by Lorenz Meier
parent ef2a5599a1
commit 1dd9a10260
1 changed files with 36 additions and 9 deletions
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msg/sensor_correction.msg
+36 -9
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@@ -4,19 +4,46 @@
# 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
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 uORB instance 0
float32[3] gyro_offset_0 # gyro XYZ offsets in the sensor frame in rad/s
float32[3] gyro_scale_0 # gyro XYZ scale factors in the sensor frame
# corrections for uORB instance 1
float32[3] gyro_offset_1 # gyro XYZ offsets in the sensor frame in rad/s
float32[3] gyro_scale_1 # gyro XYZ scale factors in the sensor frame
# corrections for uORB instance 2
float32[3] gyro_offset_2 # gyro XYZ offsets in the sensor frame in rad/s
float32[3] gyro_scale_2 # gyro XYZ scale factors in the sensor frame
# 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
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 uORB instance 0
float32[3] accel_offset_0 # accelerometer XYZ offsets in the sensor frame in m/s/s
float32[3] accel_scale_0 # accelerometer XYZ scale factors in the sensor frame
# corrections for uORB instance 1
float32[3] accel_offset_1 # accelerometer XYZ offsets in the sensor frame in m/s/s
float32[3] accel_scale_1 # accelerometer XYZ scale factors in the sensor frame
# corrections for uORB instance 2
float32[3] accel_offset_2 # accelerometer XYZ offsets in the sensor frame in m/s/s
float32[3] accel_scale_2 # 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
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
# corrections for uORB instance 0
float32 baro_offset_0 # barometric pressure offsets in the sensor frame in m/s/s
float32 baro_scale_0 # barometric pressure scale factors in the sensor frame
uint8 selected_gyro_instance # gyro uORB topic instance for the voted sensor
uint8 selected_accel_instance # accelerometer uORB topic instance for the voted sensor
uint8 selected_baro_instance # barometric pressure uORB topic instance for the voted sensor
# corrections for uORB instance 1
float32 baro_offset_1 # barometric pressure offsets in the sensor frame in m/s/s
float32 baro_scale_1 # barometric pressure scale factors in the sensor frame
# corrections for uORB instance 2
float32 baro_offset_2 # barometric pressure offsets in the sensor frame in m/s/s
float32 baro_scale_2 # barometric pressure scale factors in the sensor frame
uint8 selected_gyro_instance # gyro uORB topic instance for the voted sensor
uint8 selected_accel_instance # accelerometer uORB topic instance for the voted sensor
uint8 selected_baro_instance # barometric pressure uORB topic instance for the voted sensor