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msg: add uORB topic for IMU sensor corrections

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This commit is contained in:
Paul Riseborough
2016-12-26 15:05:06 +11:00
committed by Lorenz Meier
parent 4f1b748786
commit 9599f58c5d
2 changed files with 16 additions and 0 deletions
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1
msg/CMakeLists.txt
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@@ -89,6 +89,7 @@ set(msg_file_names
sensor_accel.msg sensor_accel.msg
sensor_baro.msg sensor_baro.msg
sensor_combined.msg sensor_combined.msg
sensor_correction.msg
sensor_gyro.msg sensor_gyro.msg
sensor_mag.msg sensor_mag.msg
sensor_preflight.msg sensor_preflight.msg

15
msg/sensor_correction.msg Normal file
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@@ -0,0 +1,15 @@
#
# Sensor corrections in SI-unit form for the voted sensor
#
# 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
uint8 gyro_select # gyro uORB index for the voted sensor
float32[3] gyro_offset # gyro XYZ offsets in the sensor frame in rad/s
float32[3] gyro_scale # gyro XYZ scale factors in the sensor frame
# Corrections for acceleromter acceleration outputs where corrected_accel = raw_aaccel * 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
uint8 accel_select # accelerometer uORB index for the voted sensor
float32[3] accel_offset # accelerometer XYZ offsets in the sensor frame in m/s/s
float32[3] accel_scale # accelerometer XYZ scale factors in the sensor frame