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cea185268e
- update all msgs to be directly compatible with ROS2 - microdds_client improvements - timesync - reduced code size - add to most default builds if we can afford it - lots of other little changes - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
33 lines
1.9 KiB
Plaintext
33 lines
1.9 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[4] gyro_device_ids
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float32[4] gyro_temperature
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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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float32[3] gyro_offset_3 # gyro 3 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[4] accel_device_ids
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float32[4] accel_temperature
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float32[3] accel_offset_0 # accelerometer 0 offsets in the FRD board frame XYZ-axis in m/s^s
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float32[3] accel_offset_1 # accelerometer 1 offsets in the FRD board frame XYZ-axis in m/s^s
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float32[3] accel_offset_2 # accelerometer 2 offsets in the FRD board frame XYZ-axis in m/s^s
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float32[3] accel_offset_3 # accelerometer 3 offsets in the FRD board frame XYZ-axis 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[4] baro_device_ids
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float32[4] baro_temperature
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float32 baro_offset_0 # barometric pressure 0 offsets in the sensor frame in Pascals
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float32 baro_offset_1 # barometric pressure 1 offsets in the sensor frame in Pascals
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float32 baro_offset_2 # barometric pressure 2 offsets in the sensor frame in Pascals
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float32 baro_offset_3 # barometric pressure 3 offsets in the sensor frame in Pascals
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