delete control_state and cleanup vehicle_attitude (#7882)

msg/sensor_bias.msg

@@ -0,0 +1,30 @@
+#
+# Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,
+# 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)
+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 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 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)