move baro and magnetometer data out of sensor_combined

msg/CMakeLists.txt

@@ -110,6 +110,7 @@ set(msg_files
 	uavcan_parameter_value.msg
 	ulog_stream.msg
 	ulog_stream_ack.msg
+	vehicle_air_data.msg
 	vehicle_attitude.msg
 	vehicle_attitude_setpoint.msg
 	vehicle_command.msg
@@ -120,6 +121,7 @@ set(msg_files
 	vehicle_land_detected.msg
 	vehicle_local_position.msg
 	vehicle_local_position_setpoint.msg
+	vehicle_magnetometer.msg
 	vehicle_rates_setpoint.msg
 	vehicle_roi.msg
 	vehicle_status.msg

msg/sensor_bias.msg

@@ -3,18 +3,10 @@
 # scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
 #
 
-float32 gyro_x		# Bias corrected angular velocity about X body axis (roll) (in rad/s)
-float32 gyro_y		# Bias corrected angular velocity about Y body axis (pitch) (in rad/s)
-float32 gyro_z		# Bias corrected angular velocity about Z body axis (yaw) (in rad/s)
-
 float32 accel_x		# Bias corrected acceleration in body X axis (in rad/s)
 float32 accel_y		# Bias corrected acceleration in body Y axis (in rad/s)
 float32 accel_z		# Bias corrected acceleration in body Z axis (in rad/s)
 
-float32 mag_x		# Bias corrected magnetometer reading in body X axis (in Gauss)
-float32 mag_y		# Bias corrected magnetometer reading in body Y axis (in Gauss)
-float32 mag_z		# Bias corrected magnetometer reading in body Z axis (in Gauss)
-
 # In-run bias estimates (subtract from uncorrected data)
 
 float32 gyro_x_bias		# X gyroscope in-run bias in body frame (rad/s, x forward)
@@ -27,4 +19,4 @@ float32 accel_z_bias	# Z accelerometer in-run bias in body frame (m/s^2, z down)
 
 float32 mag_x_bias		# X magnetometer in-run bias in body frame (Gauss, x forward)
 float32 mag_y_bias		# Y magnetometer in-run bias in body frame (Gauss, y right)
-float32 mag_z_bias		# Z magnetometer in-run bias in body frame (Gauss, z down)
+float32 mag_z_bias		# Z magnetometer in-run bias in body frame (Gauss, z down)

msg/sensor_combined.msg

@@ -7,7 +7,6 @@
 
 int32 RELATIVE_TIMESTAMP_INVALID = 2147483647 # (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid
 
-
 # gyro timstamp is equal to the timestamp of the message
 float32[3] gyro_rad			# average angular rate measured in the XYZ body frame in rad/s over the last gyro sampling period
 uint32 gyro_integral_dt		# gyro measurement sampling period in us
@@ -15,11 +14,3 @@ uint32 gyro_integral_dt		# gyro measurement sampling period in us
 int32 accelerometer_timestamp_relative	# timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
 float32[3] accelerometer_m_s2		# average value acceleration measured in the XYZ body frame in m/s/s over the last accelerometer sampling period
 uint32 accelerometer_integral_dt	# accelerometer measurement sampling period in us
-
-int32 magnetometer_timestamp_relative	# timestamp + magnetometer_timestamp_relative = Magnetometer timestamp
-float32[3] magnetometer_ga		# Magnetic field in NED body frame, in Gauss
-
-int32 baro_timestamp_relative		# timestamp + baro_timestamp_relative = Barometer timestamp
-float32 baro_alt_meter			# Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH.
-float32 baro_temp_celcius		# Temperature in degrees celsius
-float32 baro_pressure_pa		# Absolute pressure in pascals

msg/vehicle_air_data.msg

@@ -0,0 +1,6 @@
+
+float32 baro_alt_meter			# Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH.
+float32 baro_temp_celcius		# Temperature in degrees celsius
+float32 baro_pressure_pa		# Absolute pressure in pascals
+
+float32 rho						# air density

msg/vehicle_global_position.msg

@@ -25,8 +25,6 @@ float32 epv			# Standard deviation of vertical position error, (metres)
 float32 terrain_alt		# Terrain altitude WGS84, (metres)
 bool terrain_alt_valid		# Terrain altitude estimate is valid
 
-float32 pressure_alt		# Pressure altitude AMSL, (metres)
-
 bool dead_reckoning		# True if this position is estimated through dead-reckoning
 
 # TOPICS vehicle_global_position vehicle_global_position_groundtruth

msg/vehicle_magnetometer.msg

@@ -0,0 +1,2 @@
+
+float32[3] magnetometer_ga		# Magnetic field in NED body frame, in Gauss