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				# delta angle in the NED body frame in rad
float32 gyro_integral_dt			# delta time for gyro integral in s

int32 accelerometer_timestamp_relative	# timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
float32[3] accelerometer_m_s2			# velocity in NED body frame, in m/s^2
float32 accelerometer_integral_dt		# delta time for accel integral in s

int32 magnetometer_timestamp_relative	# timestamp + magnetometer_timestamp_relative = Magnetometer timestamp
float32[3] magnetometer_ga		# Magnetic field in NED body frame, in Gauss

int32 baro_timestamp_relative		# timestamp + baro_timestamp_relative = Barometer timestamp
float32 baro_alt_meter			# Altitude, already temp. comp.
float32 baro_temp_celcius		# Temperature in degrees celsius
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`

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
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`
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			`float32[3] gyro_rad # delta angle in the NED body frame in rad`
			`float32 gyro_integral_dt # delta time for gyro integral in s`
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`
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			`float32[3] accelerometer_m_s2 # velocity in NED body frame, in m/s^2`
			`float32 accelerometer_integral_dt # delta time for accel integral in s`
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 magnetometer_timestamp_relative # timestamp + magnetometer_timestamp_relative = Magnetometer timestamp`
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			`float32[3] magnetometer_ga # Magnetic field in NED body frame, in Gauss`
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 baro_timestamp_relative # timestamp + baro_timestamp_relative = Barometer timestamp`
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			`float32 baro_alt_meter # Altitude, already temp. comp.`
			`float32 baro_temp_celcius # Temperature in degrees celsius`