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docs/en/msg_docs/SensorCorrection.md
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---
pageClass: is-wide-page
---
# SensorCorrection (UORB message)
Sensor corrections in SI-unit form for the voted sensor
Sensor corrections in SI-unit form for the voted sensor.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorCorrection.msg)
**TOPICS:** sensor_correction
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| accel_device_ids | `uint32[4]` | | |
| accel_temperature | `float32[4]` | | |
| accel_offset_0 | `float32[3]` | | | accelerometer 0 offsets in the FRD board frame XYZ-axis in m/s^s |
| accel_offset_1 | `float32[3]` | | | accelerometer 1 offsets in the FRD board frame XYZ-axis in m/s^s |
| accel_offset_2 | `float32[3]` | | | accelerometer 2 offsets in the FRD board frame XYZ-axis in m/s^s |
| accel_offset_3 | `float32[3]` | | | accelerometer 3 offsets in the FRD board frame XYZ-axis in m/s^s |
| gyro_device_ids | `uint32[4]` | | |
| gyro_temperature | `float32[4]` | | |
| gyro_offset_0 | `float32[3]` | | | gyro 0 XYZ offsets in the sensor frame in rad/s |
| gyro_offset_1 | `float32[3]` | | | gyro 1 XYZ offsets in the sensor frame in rad/s |
| gyro_offset_2 | `float32[3]` | | | gyro 2 XYZ offsets in the sensor frame in rad/s |
| gyro_offset_3 | `float32[3]` | | | gyro 3 XYZ offsets in the sensor frame in rad/s |
| mag_device_ids | `uint32[4]` | | |
| mag_temperature | `float32[4]` | | |
| mag_offset_0 | `float32[3]` | | | magnetometer 0 offsets in the FRD board frame XYZ-axis in m/s^s |
| mag_offset_1 | `float32[3]` | | | magnetometer 1 offsets in the FRD board frame XYZ-axis in m/s^s |
| mag_offset_2 | `float32[3]` | | | magnetometer 2 offsets in the FRD board frame XYZ-axis in m/s^s |
| mag_offset_3 | `float32[3]` | | | magnetometer 3 offsets in the FRD board frame XYZ-axis in m/s^s |
| baro_device_ids | `uint32[4]` | | |
| baro_temperature | `float32[4]` | | |
| baro_offset_0 | `float32` | | | barometric pressure 0 offsets in the sensor frame in Pascals |
| baro_offset_1 | `float32` | | | barometric pressure 1 offsets in the sensor frame in Pascals |
| baro_offset_2 | `float32` | | | barometric pressure 2 offsets in the sensor frame in Pascals |
| baro_offset_3 | `float32` | | | barometric pressure 3 offsets in the sensor frame in Pascals |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorCorrection.msg)
::: details Click here to see original file
```c
#
@@ -46,5 +86,6 @@ float32 baro_offset_0 # barometric pressure 0 offsets in the sensor frame in Pa
float32 baro_offset_1 # barometric pressure 1 offsets in the sensor frame in Pascals
float32 baro_offset_2 # barometric pressure 2 offsets in the sensor frame in Pascals
float32 baro_offset_3 # barometric pressure 3 offsets in the sensor frame in Pascals
```
:::