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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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dc05ceaad2
- this is a new module for temperature compensation that consolidates the functionality previously handled in the sensors module (calculating runtime thermal corrections) and the events module (online thermal calibration) - by collecting this functionality into a single module we can optionally disable it on systems where it's not used and save some flash (if disabled at build time) or memory (disabled at run time)
58 lines
2.8 KiB
Plaintext
58 lines
2.8 KiB
Plaintext
#
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# Sensor corrections in SI-unit form for the voted sensor
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#
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uint64 timestamp # time since system start (microseconds)
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# Corrections for gyro angular rate outputs where corrected_rate = raw_rate * gyro_scale + gyro_offset
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# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
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# corrections for uORB instance 0
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float32[3] gyro_offset_0 # gyro XYZ offsets in the sensor frame in rad/s
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float32[3] gyro_scale_0 # gyro XYZ scale factors in the sensor frame
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# corrections for uORB instance 1
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float32[3] gyro_offset_1 # gyro XYZ offsets in the sensor frame in rad/s
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float32[3] gyro_scale_1 # gyro XYZ scale factors in the sensor frame
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# corrections for uORB instance 2
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float32[3] gyro_offset_2 # gyro XYZ offsets in the sensor frame in rad/s
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float32[3] gyro_scale_2 # gyro XYZ scale factors in the sensor frame
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# Corrections for acceleromter acceleration outputs where corrected_accel = raw_accel * accel_scale + accel_offset
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# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
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# corrections for uORB instance 0
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float32[3] accel_offset_0 # accelerometer XYZ offsets in the sensor frame in m/s/s
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float32[3] accel_scale_0 # accelerometer XYZ scale factors in the sensor frame
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# corrections for uORB instance 1
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float32[3] accel_offset_1 # accelerometer XYZ offsets in the sensor frame in m/s/s
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float32[3] accel_scale_1 # accelerometer XYZ scale factors in the sensor frame
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# corrections for uORB instance 2
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float32[3] accel_offset_2 # accelerometer XYZ offsets in the sensor frame in m/s/s
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float32[3] accel_scale_2 # accelerometer XYZ scale factors in the sensor frame
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# Corrections for barometric pressure outputs where corrected_pressure = raw_pressure * pressure_scale + pressure_offset
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# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
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# corrections for uORB instance 0
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float32 baro_offset_0 # barometric pressure offsets in the sensor frame in m/s/s
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float32 baro_scale_0 # barometric pressure scale factors in the sensor frame
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# corrections for uORB instance 1
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float32 baro_offset_1 # barometric pressure offsets in the sensor frame in m/s/s
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float32 baro_scale_1 # barometric pressure scale factors in the sensor frame
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# corrections for uORB instance 2
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float32 baro_offset_2 # barometric pressure offsets in the sensor frame in m/s/s
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float32 baro_scale_2 # barometric pressure scale factors in the sensor frame
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# Mapping from uORB index to parameter index for each sensor type. For example accel_mapping[1] contains the
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# compensation parameter system index for the sensor_accel uORB index 1 data.
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uint8[3] gyro_mapping
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uint8[3] accel_mapping
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uint8[3] baro_mapping
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uint32[3] gyro_device_ids
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uint32[3] accel_device_ids
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uint32[3] baro_device_ids
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