msg: add uORB topic for IMU sensor corrections

msg/CMakeLists.txt

@@ -89,6 +89,7 @@ set(msg_file_names
 	sensor_accel.msg
 	sensor_baro.msg
 	sensor_combined.msg
+	sensor_correction.msg
 	sensor_gyro.msg
 	sensor_mag.msg
 	sensor_preflight.msg

msg/sensor_correction.msg

@@ -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