SensorCorrection (UORB message)
Sensor corrections in SI-unit form for the voted sensor.
TOPICS: sensor_correction
Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
|---|---|---|---|---|
| timestamp | uint64 | time since system start (microseconds) | ||
| accel_device_ids | uint32[4] | |||
| accel_temperature | float32[4] | |||
| accel_offset_0 | float32[3] | accelerometer 0 offsets in the FRD board frame XYZ-axis in m/s^s | ||
| accel_offset_1 | float32[3] | accelerometer 1 offsets in the FRD board frame XYZ-axis in m/s^s | ||
| accel_offset_2 | float32[3] | accelerometer 2 offsets in the FRD board frame XYZ-axis in m/s^s | ||
| accel_offset_3 | float32[3] | accelerometer 3 offsets in the FRD board frame XYZ-axis in m/s^s | ||
| gyro_device_ids | uint32[4] | |||
| gyro_temperature | float32[4] | |||
| gyro_offset_0 | float32[3] | gyro 0 XYZ offsets in the sensor frame in rad/s | ||
| gyro_offset_1 | float32[3] | gyro 1 XYZ offsets in the sensor frame in rad/s | ||
| gyro_offset_2 | float32[3] | gyro 2 XYZ offsets in the sensor frame in rad/s | ||
| gyro_offset_3 | float32[3] | gyro 3 XYZ offsets in the sensor frame in rad/s | ||
| mag_device_ids | uint32[4] | |||
| mag_temperature | float32[4] | |||
| mag_offset_0 | float32[3] | magnetometer 0 offsets in the FRD board frame XYZ-axis in m/s^s | ||
| mag_offset_1 | float32[3] | magnetometer 1 offsets in the FRD board frame XYZ-axis in m/s^s | ||
| mag_offset_2 | float32[3] | magnetometer 2 offsets in the FRD board frame XYZ-axis in m/s^s | ||
| mag_offset_3 | float32[3] | magnetometer 3 offsets in the FRD board frame XYZ-axis in m/s^s | ||
| baro_device_ids | uint32[4] | |||
| baro_temperature | float32[4] | |||
| baro_offset_0 | float32 | barometric pressure 0 offsets in the sensor frame in Pascals | ||
| baro_offset_1 | float32 | barometric pressure 1 offsets in the sensor frame in Pascals | ||
| baro_offset_2 | float32 | barometric pressure 2 offsets in the sensor frame in Pascals | ||
| baro_offset_3 | float32 | barometric pressure 3 offsets in the sensor frame in Pascals |
Source Message
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c
#
# Sensor corrections in SI-unit form for the voted sensor
#
uint64 timestamp # time since system start (microseconds)
# Corrections for acceleromter acceleration outputs where corrected_accel = raw_accel * accel_scale + accel_offset
# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
uint32[4] accel_device_ids
float32[4] accel_temperature
float32[3] accel_offset_0 # accelerometer 0 offsets in the FRD board frame XYZ-axis in m/s^s
float32[3] accel_offset_1 # accelerometer 1 offsets in the FRD board frame XYZ-axis in m/s^s
float32[3] accel_offset_2 # accelerometer 2 offsets in the FRD board frame XYZ-axis in m/s^s
float32[3] accel_offset_3 # accelerometer 3 offsets in the FRD board frame XYZ-axis in m/s^s
# Corrections for gyro angular rate outputs where corrected_rate = raw_rate * gyro_scale + gyro_offset
# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
uint32[4] gyro_device_ids
float32[4] gyro_temperature
float32[3] gyro_offset_0 # gyro 0 XYZ offsets in the sensor frame in rad/s
float32[3] gyro_offset_1 # gyro 1 XYZ offsets in the sensor frame in rad/s
float32[3] gyro_offset_2 # gyro 2 XYZ offsets in the sensor frame in rad/s
float32[3] gyro_offset_3 # gyro 3 XYZ offsets in the sensor frame in rad/s
# Corrections for magnetometer measurement outputs where corrected_mag = raw_mag * mag_scale + mag_offset
# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
uint32[4] mag_device_ids
float32[4] mag_temperature
float32[3] mag_offset_0 # magnetometer 0 offsets in the FRD board frame XYZ-axis in m/s^s
float32[3] mag_offset_1 # magnetometer 1 offsets in the FRD board frame XYZ-axis in m/s^s
float32[3] mag_offset_2 # magnetometer 2 offsets in the FRD board frame XYZ-axis in m/s^s
float32[3] mag_offset_3 # magnetometer 3 offsets in the FRD board frame XYZ-axis in m/s^s
# Corrections for barometric pressure outputs where corrected_pressure = raw_pressure * pressure_scale + pressure_offset
# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
uint32[4] baro_device_ids
float32[4] baro_temperature
float32 baro_offset_0 # barometric pressure 0 offsets in the sensor frame in Pascals
float32 baro_offset_1 # barometric pressure 1 offsets in the sensor frame in Pascals
float32 baro_offset_2 # barometric pressure 2 offsets in the sensor frame in Pascals
float32 baro_offset_3 # barometric pressure 3 offsets in the sensor frame in Pascals