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estimator_sensor_bias: add bias variance

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Daniel Agar
2020-09-04 10:48:26 -04:00
parent c54a0ff0c7
commit e5879f1bb6
2 changed files with 13 additions and 1 deletions
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msg/estimator_sensor_bias.msg
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@@ -10,9 +10,12 @@ uint64 timestamp_sample # the timestamp of the raw data (microseconds)
uint32 gyro_device_id # unique device ID for the sensor that does not change between power cycles
float32[3] gyro_bias # gyroscope in-run bias in body frame (rad/s)
float32[3] gyro_bias_variance
uint32 accel_device_id # unique device ID for the sensor that does not change between power cycles
float32[3] accel_bias # accelerometer in-run bias in body frame (m/s^2)
float32[3] accel_bias_variance
uint32 mag_device_id # unique device ID for the sensor that does not change between power cycles
float32[3] mag_bias # magnetometer in-run bias in body frame (Gauss)
float32[3] mag_bias_variance