mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
77 lines
6.8 KiB
Markdown
77 lines
6.8 KiB
Markdown
---
|
||
pageClass: is-wide-page
|
||
---
|
||
|
||
# EstimatorSensorBias (повідомлення UORB)
|
||
|
||
Показання датчиків та похибки в процесі роботи в одиницях СІ. Sensor readings are compensated for static offsets,. scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
|
||
|
||
**TOPICS:** estimator_sensor_bias
|
||
|
||
## Fields
|
||
|
||
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
|
||
| ------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------- |
|
||
| timestamp | `uint64` | | | time since system start (microseconds) |
|
||
| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
|
||
| gyro_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
|
||
| gyro_bias | `float32[3]` | | | gyroscope in-run bias in body frame (rad/s) |
|
||
| gyro_bias_limit | `float32` | | | magnitude of maximum gyroscope in-run bias in body frame (rad/s) |
|
||
| gyro_bias_variance | `float32[3]` | | | |
|
||
| gyro_bias_valid | `bool` | | | |
|
||
| gyro_bias_stable | `bool` | | | true when the gyro bias estimate is stable enough to use for calibration |
|
||
| accel_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
|
||
| accel_bias | `float32[3]` | | | accelerometer in-run bias in body frame (m/s^2) |
|
||
| accel_bias_limit | `float32` | | | magnitude of maximum accelerometer in-run bias in body frame (m/s^2) |
|
||
| accel_bias_variance | `float32[3]` | | | |
|
||
| accel_bias_valid | `bool` | | | |
|
||
| accel_bias_stable | `bool` | | | true when the accel bias estimate is stable enough to use for calibration |
|
||
| mag_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
|
||
| mag_bias | `float32[3]` | | | magnetometer in-run bias in body frame (Gauss) |
|
||
| mag_bias_limit | `float32` | | | magnitude of maximum magnetometer in-run bias in body frame (Gauss) |
|
||
| mag_bias_variance | `float32[3]` | | | |
|
||
| mag_bias_valid | `bool` | | | |
|
||
| mag_bias_stable | `bool` | | | true when the mag bias estimate is stable enough to use for calibration |
|
||
|
||
## Source Message
|
||
|
||
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSensorBias.msg)
|
||
|
||
:::details
|
||
Click here to see original file
|
||
|
||
```c
|
||
#
|
||
# 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).
|
||
#
|
||
|
||
uint64 timestamp # time since system start (microseconds)
|
||
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
||
|
||
# In-run bias estimates (subtract from uncorrected data)
|
||
|
||
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 gyro_bias_limit # magnitude of maximum gyroscope in-run bias in body frame (rad/s)
|
||
float32[3] gyro_bias_variance
|
||
bool gyro_bias_valid
|
||
bool gyro_bias_stable # true when the gyro bias estimate is stable enough to use for calibration
|
||
|
||
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 accel_bias_limit # magnitude of maximum accelerometer in-run bias in body frame (m/s^2)
|
||
float32[3] accel_bias_variance
|
||
bool accel_bias_valid
|
||
bool accel_bias_stable # true when the accel bias estimate is stable enough to use for calibration
|
||
|
||
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 mag_bias_limit # magnitude of maximum magnetometer in-run bias in body frame (Gauss)
|
||
float32[3] mag_bias_variance
|
||
bool mag_bias_valid
|
||
bool mag_bias_stable # true when the mag bias estimate is stable enough to use for calibration
|
||
```
|
||
|
||
:::
|