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move baro and magnetometer data out of sensor_combined

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Daniel Agar
2018-04-11 23:26:58 -04:00
parent 3e6ba1d541
commit 3b5b12e1d1
31 changed files with 289 additions and 266 deletions
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msg/sensor_bias.msg
+1 -9
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@@ -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)