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19 lines
683 B
Plaintext
19 lines
683 B
Plaintext
# Auto trimming state and current estimate
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uint64 timestamp # Time since system start (microseconds)
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uint64 timestamp_sample
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float32[3] trim_estimate # Roll/pitch/yaw trim value obtained from torque setpoints averaged over several seconds
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float32[3] trim_estimate_var
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float32[3] trim_test # Same as trim_estimate but done on a shorter period. Used to validate the trim estimate.
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float32[3] trim_test_var
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float32[3] trim_validated # Final roll/pitch/yaw trim estimate, verified by trim_test
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uint8 STATE_IDLE = 0
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uint8 STATE_SAMPLING = 1
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uint8 STATE_SAMPLING_TEST = 2
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uint8 STATE_VERIFICATION = 3
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uint8 STATE_COMPLETE = 4
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uint8 STATE_FAIL = 5
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uint8 state
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