msg/sensor_combined.msg

#
# Sensor readings in SI-unit form.
#
# These fields are scaled and offset-compensated where possible and do not
# change with board revisions and sensor updates.
#

int32 RELATIVE_TIMESTAMP_INVALID = 2147483647 # (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid

# gyro timstamp is equal to the timestamp of the message
float32[3] gyro_rad			# average angular rate measured in the XYZ body frame in rad/s over the last gyro sampling period
uint32 gyro_integral_dt		# gyro measurement sampling period in us

int32 accelerometer_timestamp_relative	# timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
float32[3] accelerometer_m_s2		# average value acceleration measured in the XYZ body frame in m/s/s over the last accelerometer sampling period
uint32 accelerometer_integral_dt	# accelerometer measurement sampling period in us
Move more messages to auto-generation, work on C++ code style 2015-04-25 23:44:54 -04:00			`#`
sensor_combined cleanup: remove many unneeded fields Decreases the message size from 780 to 280 bytes. In particular, all modules using sensor_combined must use the integral now. The sensor value can easily be reconstructed by dividing with dt. Voters now need to be moved into sensors module, because error count and priority is removed from the topic. Any module that requires additional data from a sensor can subscribe to the raw sensor topics. At two places, values are set to zero instead of subscribing to the raw sensors (with the assumption that no one reads them): - mavlink mavlink_highres_imu_t::abs_pressure - sdlog2: sensor temperatures 2016-06-24 12:52:16 +02:00			`# Sensor readings in SI-unit form.`
Move more messages to auto-generation, work on C++ code style 2015-04-25 23:44:54 -04:00			`#`
sensor_combined cleanup: remove many unneeded fields Decreases the message size from 780 to 280 bytes. In particular, all modules using sensor_combined must use the integral now. The sensor value can easily be reconstructed by dividing with dt. Voters now need to be moved into sensors module, because error count and priority is removed from the topic. Any module that requires additional data from a sensor can subscribe to the raw sensor topics. At two places, values are set to zero instead of subscribing to the raw sensors (with the assumption that no one reads them): - mavlink mavlink_highres_imu_t::abs_pressure - sdlog2: sensor temperatures 2016-06-24 12:52:16 +02:00			`# These fields are scaled and offset-compensated where possible and do not`
			`# change with board revisions and sensor updates.`
Move more messages to auto-generation, work on C++ code style 2015-04-25 23:44:54 -04:00			`#`

sensor_combined: replace accel & gyro integral with value, use float for dt Reason: the value is easier to read & handle (for example plotting). In most places the value is needed, not the integral. Note that this breaks the replay format for sdlog2 replay 2016-07-07 10:35:03 +02:00			`int32 RELATIVE_TIMESTAMP_INVALID = 2147483647 # (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid`

sensors: move voting into sensors module - 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 2016-06-25 12:28:02 +02:00			`# gyro timstamp is equal to the timestamp of the message`
msg: Fix documentation errors in sensor_combined 2016-12-24 14:14:19 +11:00			`float32[3] gyro_rad # average angular rate measured in the XYZ body frame in rad/s over the last gyro sampling period`
msg: ekf: switch to uin32_t for deltas, should be more than enough Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com> 2017-07-12 18:00:01 +03:00			`uint32 gyro_integral_dt # gyro measurement sampling period in us`
sensors combined message: Clean up field names 2015-08-30 00:07:19 +02:00
sensor_combined.msg: make timestamps relative This is needed for the new logger & saves some space as well. 2016-06-25 15:57:03 +02:00			`int32 accelerometer_timestamp_relative # timestamp + accelerometer_timestamp_relative = Accelerometer timestamp`
msg: Fix documentation errors in sensor_combined 2016-12-24 14:14:19 +11:00			`float32[3] accelerometer_m_s2 # average value acceleration measured in the XYZ body frame in m/s/s over the last accelerometer sampling period`
msg: ekf: switch to uin32_t for deltas, should be more than enough Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com> 2017-07-12 18:00:01 +03:00			`uint32 accelerometer_integral_dt # accelerometer measurement sampling period in us`