bizhang_-obav/msg/sensor_correction.msg

#
# Sensor corrections in SI-unit form for the voted sensor
#

uint64 timestamp		# time since system start (microseconds)

# 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
# corrections for uORB instance 0
float32[3] gyro_offset_0	# gyro XYZ offsets in the sensor frame in rad/s
float32[3] gyro_scale_0		# gyro XYZ scale factors in the sensor frame

# corrections for uORB instance 1
float32[3] gyro_offset_1	# gyro XYZ offsets in the sensor frame in rad/s
float32[3] gyro_scale_1		# gyro XYZ scale factors in the sensor frame

# corrections for uORB instance 2
float32[3] gyro_offset_2	# gyro XYZ offsets in the sensor frame in rad/s
float32[3] gyro_scale_2		# gyro XYZ scale factors in the sensor frame

# 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
# corrections for uORB instance 0
float32[3] accel_offset_0	# accelerometer XYZ offsets in the sensor frame in m/s/s
float32[3] accel_scale_0	# accelerometer XYZ scale factors in the sensor frame

# corrections for uORB instance 1
float32[3] accel_offset_1	# accelerometer XYZ offsets in the sensor frame in m/s/s
float32[3] accel_scale_1	# accelerometer XYZ scale factors in the sensor frame

# corrections for uORB instance 2
float32[3] accel_offset_2	# accelerometer XYZ offsets in the sensor frame in m/s/s
float32[3] accel_scale_2	# accelerometer XYZ scale factors in the sensor frame

# 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
# corrections for uORB instance 0
float32 baro_offset_0		# barometric pressure offsets in the sensor frame in m/s/s
float32 baro_scale_0		# barometric pressure scale factors in the sensor frame

# corrections for uORB instance 1
float32 baro_offset_1		# barometric pressure offsets in the sensor frame in m/s/s
float32 baro_scale_1		# barometric pressure scale factors in the sensor frame

# corrections for uORB instance 2
float32 baro_offset_2		# barometric pressure offsets in the sensor frame in m/s/s
float32 baro_scale_2		# barometric pressure scale factors in the sensor frame

uint8 selected_gyro_instance	# gyro uORB topic instance for the voted sensor
uint8 selected_accel_instance	# accelerometer uORB topic instance for the voted sensor
uint8 selected_baro_instance	# barometric pressure uORB topic instance for the voted sensor

# Mapping from uORB index to parameter index for each sensor type. For example accel_mapping[1] contains the
# compensation parameter system index for the sensor_accel uORB index 1 data.
uint8[3] gyro_mapping
uint8[3] accel_mapping
uint8[3] baro_mapping

uint32[3] gyro_device_ids
uint32[3] accel_device_ids
uint32[3] baro_device_ids