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sensor_correction.msg
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#
# 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