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41 lines
2.2 KiB
Markdown
41 lines
2.2 KiB
Markdown
# EstimatorSensorBias (повідомлення UORB)
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Показання датчиків та похибки в процесі роботи в одиницях СІ. Показання датчиків компенсуються для статичних зсувів,
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похибки шкали, зсув під час роботи та тепловий зсув (якщо термокомпенсація увімкнена та доступна).
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSensorBias.msg)
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```c
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#
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# Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,
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# scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
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#
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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# In-run bias estimates (subtract from uncorrected data)
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uint32 gyro_device_id # unique device ID for the sensor that does not change between power cycles
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float32[3] gyro_bias # gyroscope in-run bias in body frame (rad/s)
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float32 gyro_bias_limit # magnitude of maximum gyroscope in-run bias in body frame (rad/s)
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float32[3] gyro_bias_variance
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bool gyro_bias_valid
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bool gyro_bias_stable # true when the gyro bias estimate is stable enough to use for calibration
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uint32 accel_device_id # unique device ID for the sensor that does not change between power cycles
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float32[3] accel_bias # accelerometer in-run bias in body frame (m/s^2)
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float32 accel_bias_limit # magnitude of maximum accelerometer in-run bias in body frame (m/s^2)
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float32[3] accel_bias_variance
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bool accel_bias_valid
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bool accel_bias_stable # true when the accel bias estimate is stable enough to use for calibration
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uint32 mag_device_id # unique device ID for the sensor that does not change between power cycles
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float32[3] mag_bias # magnetometer in-run bias in body frame (Gauss)
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float32 mag_bias_limit # magnitude of maximum magnetometer in-run bias in body frame (Gauss)
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float32[3] mag_bias_variance
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bool mag_bias_valid
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bool mag_bias_stable # true when the mag bias estimate is stable enough to use for calibration
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```
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