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bb465ca5b7
- split out integrated data into new standalone messages (sensor_accel_integrated and sensor_gyro_integrated)
- publish sensor_gyro at full rate and remove sensor_gyro_control
- limit sensor status publications to 10 Hz
- remove unused accel/gyro raw ADC fields
- add device IDs to sensor_bias and sensor_correction
- vehicle_angular_velocity/vehicle_acceleration: check device ids before using bias and corrections
18 lines
836 B
Plaintext
18 lines
836 B
Plaintext
#
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# Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,
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# scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
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#
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uint64 timestamp # time since system start (microseconds)
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# In-run bias estimates (subtract from uncorrected data)
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uint32 gyro_device_id # unique device ID for the sensor that does not change between power cycles
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float32[3] gyro_bias # gyroscope in-run bias in body frame (rad/s)
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uint32 accel_device_id # unique device ID for the sensor that does not change between power cycles
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float32[3] accel_bias # accelerometer in-run bias in body frame (m/s^2)
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uint32 mag_device_id # unique device ID for the sensor that does not change between power cycles
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float32[3] mag_bias # magnetometer in-run bias in body frame (Gauss)
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