EstimatorSensorBias (повідомлення UORB)

Показання датчиків та похибки в процесі роботи в одиницях СІ. Показання датчиків компенсуються для статичних зсувів, похибки шкали, зсув під час роботи та тепловий зсув (якщо термокомпенсація увімкнена та доступна).

вихідний файл

#
# 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