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d846ad5dac
- voting is now at a central place instead of duplicated within the
estimators
-> this also means that estimators that did not do voting so far,
now have voting, like ekf2
- estimators requiring more than that can still subscribe to the raw
sensors
- allows sensors_combined to be 3 times smaller
- reduces logger, memcpy (cache) & RAM overhead
- all modules requiring only 1 or 2 sensor values now automatically get
the voted result
- this also adds voting to baro
23 lines
891 B
Plaintext
23 lines
891 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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# gyro timstamp is equal to the timestamp of the message
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float32[3] gyro_integral_rad # delta angle in the NED body frame in rad in the integration time frame
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uint64 gyro_integral_dt # delta time for gyro integral in us
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uint64 accelerometer_timestamp # Accelerometer timestamp
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float32[3] accelerometer_integral_m_s # velocity in NED body frame, in m/s^2
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uint64 accelerometer_integral_dt # delta time for accel integral in us
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uint64 magnetometer_timestamp # Magnetometer timestamp
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float32[3] magnetometer_ga # Magnetic field in NED body frame, in Gauss
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uint64 baro_timestamp # Barometer timestamp
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float32 baro_alt_meter # Altitude, already temp. comp.
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float32 baro_temp_celcius # Temperature in degrees celsius
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