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sensors: create vehicle_acceleration module (#12597)

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Daniel Agar
2019-08-07 05:05:48 -04:00
committed by GitHub
parent 50fbb56737
commit a917f22b65
25 changed files with 492 additions and 138 deletions
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msg/sensor_bias.msg
+3 -13
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@@ -5,20 +5,10 @@
uint64 timestamp # time since system start (microseconds)
float32 accel_x # Bias corrected acceleration in body X axis (in m/s^2)
float32 accel_y # Bias corrected acceleration in body Y axis (in m/s^2)
float32 accel_z # Bias corrected acceleration in body Z axis (in m/s^2)
# In-run bias estimates (subtract from uncorrected data)
float32 gyro_x_bias # X gyroscope in-run bias in body frame (rad/s, x forward)
float32 gyro_y_bias # Y gyroscope in-run bias in body frame (rad/s, y right)
float32 gyro_z_bias # Z gyroscope in-run bias in body frame (rad/s, z down)
float32[3] gyro_bias # gyroscope in-run bias in body frame (rad/s)
float32 accel_x_bias # X accelerometer in-run bias in body frame (m/s^2, x forward)
float32 accel_y_bias # Y accelerometer in-run bias in body frame (m/s^2, y right)
float32 accel_z_bias # Z accelerometer in-run bias in body frame (m/s^2, z down)
float32[3] accel_bias # accelerometer in-run bias in body frame (m/s^2)
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[3] mag_bias # magnetometer in-run bias in body frame (Gauss)