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76 lines
4.8 KiB
Markdown
76 lines
4.8 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# EstimatorSensorBias (UORB message)
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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).
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**TOPICS:** estimator_sensorbias
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| ------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
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| gyro_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
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| gyro_bias | `float32[3]` | | | gyroscope in-run bias in body frame (rad/s) |
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| gyro_bias_limit | `float32` | | | magnitude of maximum gyroscope in-run bias in body frame (rad/s) |
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| gyro_bias_variance | `float32[3]` | | |
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| gyro_bias_valid | `bool` | | |
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| gyro_bias_stable | `bool` | | | true when the gyro bias estimate is stable enough to use for calibration |
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| accel_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
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| accel_bias | `float32[3]` | | | accelerometer in-run bias in body frame (m/s^2) |
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| accel_bias_limit | `float32` | | | magnitude of maximum accelerometer in-run bias in body frame (m/s^2) |
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| accel_bias_variance | `float32[3]` | | |
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| accel_bias_valid | `bool` | | |
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| accel_bias_stable | `bool` | | | true when the accel bias estimate is stable enough to use for calibration |
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| mag_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
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| mag_bias | `float32[3]` | | | magnetometer in-run bias in body frame (Gauss) |
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| mag_bias_limit | `float32` | | | magnitude of maximum magnetometer in-run bias in body frame (Gauss) |
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| mag_bias_variance | `float32[3]` | | |
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| mag_bias_valid | `bool` | | |
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| mag_bias_stable | `bool` | | | true when the mag bias estimate is stable enough to use for calibration |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSensorBias.msg)
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::: details Click here to see original file
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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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:::
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