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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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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
62 lines
3.0 KiB
Plaintext
62 lines
3.0 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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# corrections for uORB instance 0
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float32[3] gyro_offset_0 # gyro XYZ offsets in the sensor frame in rad/s
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float32[3] gyro_scale_0 # gyro XYZ scale factors in the sensor frame
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# corrections for uORB instance 1
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float32[3] gyro_offset_1 # gyro XYZ offsets in the sensor frame in rad/s
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float32[3] gyro_scale_1 # gyro XYZ scale factors in the sensor frame
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# corrections for uORB instance 2
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float32[3] gyro_offset_2 # gyro XYZ offsets in the sensor frame in rad/s
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float32[3] gyro_scale_2 # gyro XYZ scale factors in the sensor frame
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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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# corrections for uORB instance 0
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float32[3] accel_offset_0 # accelerometer XYZ offsets in the sensor frame in m/s/s
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float32[3] accel_scale_0 # accelerometer XYZ scale factors in the sensor frame
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# corrections for uORB instance 1
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float32[3] accel_offset_1 # accelerometer XYZ offsets in the sensor frame in m/s/s
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float32[3] accel_scale_1 # accelerometer XYZ scale factors in the sensor frame
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# corrections for uORB instance 2
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float32[3] accel_offset_2 # accelerometer XYZ offsets in the sensor frame in m/s/s
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float32[3] accel_scale_2 # accelerometer XYZ scale factors in the sensor frame
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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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# corrections for uORB instance 0
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float32 baro_offset_0 # barometric pressure offsets in the sensor frame in m/s/s
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float32 baro_scale_0 # barometric pressure scale factors in the sensor frame
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# corrections for uORB instance 1
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float32 baro_offset_1 # barometric pressure offsets in the sensor frame in m/s/s
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float32 baro_scale_1 # barometric pressure scale factors in the sensor frame
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# corrections for uORB instance 2
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float32 baro_offset_2 # barometric pressure offsets in the sensor frame in m/s/s
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float32 baro_scale_2 # barometric pressure scale factors in the sensor frame
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uint8 selected_gyro_instance # gyro uORB topic instance for the voted sensor
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uint8 selected_accel_instance # accelerometer uORB topic instance for the voted sensor
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uint8 selected_baro_instance # barometric pressure uORB topic instance for the voted sensor
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# Mapping from uORB index to parameter index for each sensor type. For example accel_mapping[1] contains the
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# compensation parameter system index for the sensor_accel uORB index 1 data.
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uint8[3] gyro_mapping
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uint8[3] accel_mapping
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uint8[3] baro_mapping
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uint32[3] gyro_device_ids
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uint32[3] accel_device_ids
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uint32[3] baro_device_ids
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