EstimatorSensorBias (повідомлення UORB)

Показання датчиків та похибки в процесі роботи в одиницях СІ. Sensor readings are compensated for static offsets,. scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).

TOPICS: estimator_sensorbias

Fields

Назва	Тип	Unit [Frame]	Range/Enum	Опис
timestamp	uint64			time since system start (microseconds)
timestamp_sample	uint64			the timestamp of the raw data (microseconds)
gyro_device_id	uint32			unique device ID for the sensor that does not change between power cycles
gyro_bias	float32[3]			gyroscope in-run bias in body frame (rad/s)
gyro_bias_limit	float32			magnitude of maximum gyroscope in-run bias in body frame (rad/s)
gyro_bias_variance	float32[3]
gyro_bias_valid	bool
gyro_bias_stable	bool			true when the gyro bias estimate is stable enough to use for calibration
accel_device_id	uint32			unique device ID for the sensor that does not change between power cycles
accel_bias	float32[3]			accelerometer in-run bias in body frame (m/s^2)
accel_bias_limit	float32			magnitude of maximum accelerometer in-run bias in body frame (m/s^2)
accel_bias_variance	float32[3]
accel_bias_valid	bool
accel_bias_stable	bool			true when the accel bias estimate is stable enough to use for calibration
mag_device_id	uint32			unique device ID for the sensor that does not change between power cycles
mag_bias	float32[3]			magnetometer in-run bias in body frame (Gauss)
mag_bias_limit	float32			magnitude of maximum magnetometer in-run bias in body frame (Gauss)
mag_bias_variance	float32[3]
mag_bias_valid	bool
mag_bias_stable	bool			true when the mag bias estimate is stable enough to use for calibration

Source Message

Source file (GitHub)

Details

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#
# Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,
# scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
#

uint64 timestamp                # time since system start (microseconds)
uint64 timestamp_sample         # the timestamp of the raw data (microseconds)

# In-run bias estimates (subtract from uncorrected data)

uint32 gyro_device_id           # unique device ID for the sensor that does not change between power cycles
float32[3] gyro_bias            # gyroscope in-run bias in body frame (rad/s)
float32 gyro_bias_limit         # magnitude of maximum gyroscope in-run bias in body frame (rad/s)
float32[3] gyro_bias_variance
bool gyro_bias_valid
bool gyro_bias_stable		# true when the gyro bias estimate is stable enough to use for calibration

uint32 accel_device_id          # unique device ID for the sensor that does not change between power cycles
float32[3] accel_bias           # accelerometer in-run bias in body frame (m/s^2)
float32 accel_bias_limit        # magnitude of maximum accelerometer in-run bias in body frame (m/s^2)
float32[3] accel_bias_variance
bool accel_bias_valid
bool accel_bias_stable		# true when the accel bias estimate is stable enough to use for calibration

uint32 mag_device_id            # unique device ID for the sensor that does not change between power cycles
float32[3] mag_bias             # magnetometer in-run bias in body frame (Gauss)
float32 mag_bias_limit          # magnitude of maximum magnetometer in-run bias in body frame (Gauss)
float32[3] mag_bias_variance
bool mag_bias_valid
bool mag_bias_stable		# true when the mag bias estimate is stable enough to use for calibration