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Clarification of coordinate systems for sensors_* and vehicle_* messages (#16339)

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Changed all 'NED' references to 'FRD'. Also cleaned up mixing of m/s/s and m/s^2 to use the latter. Corrected m/s/s to Pascals. Plus minor typos. Also made some minor cosmetic clean ups.

Co-authored-by: Robin <robin@Robins-MacBook-Pro-Work.local>
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
This commit is contained in:
Robin Lilja
2020-12-15 09:18:05 +01:00
committed by GitHub
parent fdd1d6d244
commit aa244a098c
17 changed files with 46 additions and 46 deletions
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msg/sensor_correction.msg
+8 -8
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@@ -15,15 +15,15 @@ float32[3] gyro_offset_3 # gyro 3 XYZ offsets in the sensor frame in rad/s
# 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
uint32[4] accel_device_ids
float32[3] accel_offset_0 # accelerometer 0 XYZ offsets in the sensor frame in m/s/s
float32[3] accel_offset_1 # accelerometer 1 XYZ offsets in the sensor frame in m/s/s
float32[3] accel_offset_2 # accelerometer 2 XYZ offsets in the sensor frame in m/s/s
float32[3] accel_offset_3 # accelerometer 3 XYZ offsets in the sensor frame in m/s/s
float32[3] accel_offset_0 # accelerometer 0 offsets in the FRD board frame XYZ-axis in m/s^s
float32[3] accel_offset_1 # accelerometer 1 offsets in the FRD board frame XYZ-axis in m/s^s
float32[3] accel_offset_2 # accelerometer 2 offsets in the FRD board frame XYZ-axis in m/s^s
float32[3] accel_offset_3 # accelerometer 3 offsets in the FRD board frame XYZ-axis in m/s^s
# 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
uint32[4] baro_device_ids
float32 baro_offset_0 # barometric pressure 0 offsets in the sensor frame in m/s/s
float32 baro_offset_1 # barometric pressure 1 offsets in the sensor frame in m/s/s
float32 baro_offset_2 # barometric pressure 2 offsets in the sensor frame in m/s/s
float32 baro_offset_3 # barometric pressure 3 offsets in the sensor frame in m/s/s
float32 baro_offset_0 # barometric pressure 0 offsets in the sensor frame in Pascals
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