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# Sensor corrections in SI-unit form for the voted sensor
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#
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# Corrections for gyro angular rate outputs where corrected_rate = raw_rate * gyro_scale + gyro_offset
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# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
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float32[3] gyro_offset # gyro XYZ offsets in the sensor frame in rad/s
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float32[3] gyro_scale # gyro XYZ scale factors in the sensor frame
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# Corrections for acceleromter acceleration outputs where corrected_accel = raw_accel * accel_scale + accel_offset
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# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
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float32[3] accel_offset # accelerometer XYZ offsets in the sensor frame in m/s/s
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float32[3] accel_scale # accelerometer XYZ scale factors in the sensor frame
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# Corrections for barometric pressure outputs where corrected_pressure = raw_pressure * pressure_scale + pressure_offset
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# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
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float32 baro_offset # barometric pressure offsets in the sensor frame in m/s/s
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float32 baro_scale # barometric pressure scale factors in the sensor frame
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uint8 selected_gyro_instance # gyro uORB topic instance for the voted sensor
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uint8 selected_accel_instance # accelerometer uORB topic instance for the voted sensor
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uint8 selected_baro_instance # barometric pressure uORB topic instance for the voted sensor
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