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b4ecc5a8d9
Decreases the message size from 780 to 280 bytes. In particular, all modules using sensor_combined must use the integral now. The sensor value can easily be reconstructed by dividing with dt. Voters now need to be moved into sensors module, because error count and priority is removed from the topic. Any module that requires additional data from a sensor can subscribe to the raw sensor topics. At two places, values are set to zero instead of subscribing to the raw sensors (with the assumption that no one reads them): - mavlink mavlink_highres_imu_t::abs_pressure - sdlog2: sensor temperatures
23 lines
900 B
Plaintext
23 lines
900 B
Plaintext
#
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# Sensor readings in SI-unit form.
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#
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# These fields are scaled and offset-compensated where possible and do not
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# change with board revisions and sensor updates.
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#
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uint64[3] gyro_timestamp # Gyro timestamps
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float32[9] gyro_integral_rad # delta angle in the NED body frame in rad in the integration time frame
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uint64[3] gyro_integral_dt # delta time for gyro integral in us
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float32[9] accelerometer_integral_m_s # velocity in NED body frame, in m/s^2
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uint64[3] accelerometer_integral_dt # delta time for accel integral in us
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uint64[3] accelerometer_timestamp # Accelerometer timestamp
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float32[9] magnetometer_ga # Magnetic field in NED body frame, in Gauss
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uint64[3] magnetometer_timestamp # Magnetometer timestamp
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float32[3] baro_alt_meter # Altitude, already temp. comp.
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float32[3] baro_temp_celcius # Temperature in degrees celsius
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uint64[3] baro_timestamp # Barometer timestamp
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