mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
68026eadeb
* ekf2: make publishing of learned accel biases more robust * ekf2: reset accel bias if calibration updated * msg: add separate accel and gyro calibration counters * ekf2: use separate accel and gyro calibration counters * ekf2: rework logic to reset biases when calibration counters increment * sensors: add saving of learned accel biases * ekf2: generalized saving accel/gyro/mag in flight sensor calibration * boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
31 lines
1.7 KiB
Plaintext
31 lines
1.7 KiB
Plaintext
#
|
|
# 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
|