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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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f55ed0992c
- remove all remaining IOCTLs for accel and gyro and handle all calibration entirely in sensors module with parameters
- sensor_accel and sensor_gyro are now always raw sensor data
- calibration procedures no longer need to first clear existing values before starting
- temperature calibration (TC) remove all scale (SCL) parameters
- gyro and baro scale are completely unused
- regular accel calibration scale can be used (CAL_ACC*_xSCALE) instead of TC scale
27 lines
1.6 KiB
Plaintext
27 lines
1.6 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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uint32[3] gyro_device_ids
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float32[3] gyro_offset_0 # gyro 0 XYZ offsets in the sensor frame in rad/s
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float32[3] gyro_offset_1 # gyro 1 XYZ offsets in the sensor frame in rad/s
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float32[3] gyro_offset_2 # gyro 2 XYZ offsets in the sensor frame in rad/s
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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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uint32[3] accel_device_ids
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float32[3] accel_offset_0 # accelerometer 0 XYZ offsets in the sensor frame in m/s/s
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float32[3] accel_offset_1 # accelerometer 1 XYZ offsets in the sensor frame in m/s/s
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float32[3] accel_offset_2 # accelerometer 2 XYZ offsets in the sensor frame in m/s/s
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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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uint32[3] baro_device_ids
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float32 baro_offset_0 # barometric pressure 0 offsets in the sensor frame in m/s/s
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float32 baro_offset_1 # barometric pressure 1 offsets in the sensor frame in m/s/s
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float32 baro_offset_2 # barometric pressure 2 offsets in the sensor frame in m/s/s
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