Clarification of coordinate systems for sensors_* and vehicle_* messages (#16339)

Changed all 'NED' references to 'FRD'. Also cleaned up mixing of m/s/s and m/s^2 to use the latter. Corrected m/s/s to Pascals. Plus minor typos. Also made some minor cosmetic clean ups.

Co-authored-by: Robin <robin@Robins-MacBook-Pro-Work.local>
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

msg/sensor_accel.msg

@@ -3,11 +3,11 @@ uint64 timestamp_sample
 
 uint32 device_id          # unique device ID for the sensor that does not change between power cycles
 
-float32 x                 # acceleration in the NED X board axis in m/s^2
+float32 x                 # acceleration in the FRD board frame X-axis in m/s^2
-float32 y                 # acceleration in the NED Y board axis in m/s^2
+float32 y                 # acceleration in the FRD board frame Y-axis in m/s^2
-float32 z                 # acceleration in the NED Z board axis in m/s^2
+float32 z                 # acceleration in the FRD board frame Z-axis in m/s^2
 
-float32 temperature       # temperature in degrees celsius
+float32 temperature       # temperature in degrees Celsius
 
 uint32 error_count
 

msg/sensor_accel_fifo.msg

@@ -8,8 +8,8 @@ float32 scale
 
 uint8 samples             # number of valid samples
 
-int16[32] x               # acceleration in the NED X board axis in m/s/s
+int16[32] x               # acceleration in the FRD board frame X-axis in m/s^2
-int16[32] y               # acceleration in the NED Y board axis in m/s/s
+int16[32] y               # acceleration in the FRD board frame Y-axis in m/s^2
-int16[32] z               # acceleration in the NED Z board axis in m/s/s
+int16[32] z               # acceleration in the FRD board frame Z-axis in m/s^2
 
 uint8 rotation            # Direction the sensor faces (see Rotation enum)

msg/sensor_baro.msg

@@ -7,4 +7,4 @@ uint32 error_count
 
 float32 pressure	# static pressure measurement in millibar
 
-float32 temperature	# static temperature measurement in deg C
+float32 temperature	# static temperature measurement in deg Celsius

msg/sensor_combined.msg

@@ -7,12 +7,12 @@ uint64 timestamp				# time since system start (microseconds)
 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			# average angular rate measured in the XYZ body frame in rad/s over the last gyro sampling period
+float32[3] gyro_rad			# average angular rate measured in the FRD body frame XYZ-axis in rad/s over the last gyro sampling period
-uint32 gyro_integral_dt		# gyro measurement sampling period in us
+uint32 gyro_integral_dt		# gyro measurement sampling period in microseconds
 
 int32 accelerometer_timestamp_relative	# timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
-float32[3] accelerometer_m_s2		# average value acceleration measured in the XYZ body frame in m/s/s over the last accelerometer sampling period
+float32[3] accelerometer_m_s2		# average value acceleration measured in the FRD body frame XYZ-axis in m/s^2 over the last accelerometer sampling period
-uint32 accelerometer_integral_dt	# accelerometer measurement sampling period in us
+uint32 accelerometer_integral_dt	# accelerometer measurement sampling period in microseconds
 
 uint8 CLIPPING_X = 1
 uint8 CLIPPING_Y = 2

msg/sensor_correction.msg

@@ -15,15 +15,15 @@ float32[3] gyro_offset_3	# gyro 3 XYZ offsets in the sensor frame in rad/s
 # 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
 uint32[4] accel_device_ids
-float32[3] accel_offset_0	# accelerometer 0 XYZ offsets in the sensor frame in m/s/s
+float32[3] accel_offset_0	# accelerometer 0 offsets in the FRD board frame XYZ-axis in m/s^s
-float32[3] accel_offset_1	# accelerometer 1 XYZ offsets in the sensor frame in m/s/s
+float32[3] accel_offset_1	# accelerometer 1 offsets in the FRD board frame XYZ-axis in m/s^s
-float32[3] accel_offset_2	# accelerometer 2 XYZ offsets in the sensor frame in m/s/s
+float32[3] accel_offset_2	# accelerometer 2 offsets in the FRD board frame XYZ-axis in m/s^s
-float32[3] accel_offset_3	# accelerometer 3 XYZ offsets in the sensor frame in m/s/s
+float32[3] accel_offset_3	# accelerometer 3 offsets in the FRD board frame XYZ-axis in m/s^s
 
 # 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
 uint32[4] baro_device_ids
-float32 baro_offset_0		# barometric pressure 0 offsets in the sensor frame in m/s/s
+float32 baro_offset_0		# barometric pressure 0 offsets in the sensor frame in Pascals
-float32 baro_offset_1		# barometric pressure 1 offsets in the sensor frame in m/s/s
+float32 baro_offset_1		# barometric pressure 1 offsets in the sensor frame in Pascals
-float32 baro_offset_2		# barometric pressure 2 offsets in the sensor frame in m/s/s
+float32 baro_offset_2		# barometric pressure 2 offsets in the sensor frame in Pascals
-float32 baro_offset_3		# barometric pressure 3 offsets in the sensor frame in m/s/s
+float32 baro_offset_3		# barometric pressure 3 offsets in the sensor frame in Pascals

msg/sensor_gyro.msg

@@ -3,11 +3,11 @@ uint64 timestamp_sample
 
 uint32 device_id          # unique device ID for the sensor that does not change between power cycles
 
-float32 x                 # angular velocity in the NED X board axis in rad/s
+float32 x                 # angular velocity in the FRD board frame X-axis in rad/s
-float32 y                 # angular velocity in the NED Y board axis in rad/s
+float32 y                 # angular velocity in the FRD board frame Y-axis in rad/s
-float32 z                 # angular velocity in the NED Z board axis in rad/s
+float32 z                 # angular velocity in the FRD board frame Z-axis in rad/s
 
-float32 temperature       # temperature in degrees celsius
+float32 temperature       # temperature in degrees Celsius
 
 uint32 error_count
 

msg/sensor_gyro_fifo.msg

@@ -8,8 +8,8 @@ float32 scale
 
 uint8 samples             # number of valid samples
 
-int16[32] x               # angular velocity in the NED X board axis in rad/s
+int16[32] x               # angular velocity in the FRD board frame X-axis in rad/s
-int16[32] y               # angular velocity in the NED Y board axis in rad/s
+int16[32] y               # angular velocity in the FRD board frame Y-axis in rad/s
-int16[32] z               # angular velocity in the NED Z board axis in rad/s
+int16[32] z               # angular velocity in the FRD board frame Z-axis in rad/s
 
 uint8 rotation            # Direction the sensor faces (see Rotation enum)

msg/sensor_mag.msg

@@ -3,11 +3,11 @@ uint64 timestamp_sample
 
 uint32 device_id          # unique device ID for the sensor that does not change between power cycles
 
-float32 x                 # magnetic field in the NED X board axis in Gauss
+float32 x                 # magnetic field in the FRD board frame X-axis in Gauss
-float32 y                 # magnetic field in the NED Y board axis in Gauss
+float32 y                 # magnetic field in the FRD board frame Y-axis in Gauss
-float32 z                 # magnetic field in the NED Z board axis in Gauss
+float32 z                 # magnetic field in the FRD board frame Z-axis in Gauss
 
-float32 temperature       # temperature in degrees celsius
+float32 temperature       # temperature in degrees Celsius
 
 uint32 error_count
 

msg/sensors_status_imu.msg

@@ -6,7 +6,7 @@ uint64 timestamp # time since system start (microseconds)
 uint32 accel_device_id_primary       # current primary accel device id for reference
 
 uint32[4] accel_device_ids
-float32[4] accel_inconsistency_m_s_s # magnitude of acceleration difference between IMU instance and mean in (m/s/s).
+float32[4] accel_inconsistency_m_s_s # magnitude of acceleration difference between IMU instance and mean in m/s^2.
 bool[4] accel_healthy
 
 

msg/system_power.msg

@@ -7,7 +7,7 @@ uint8 brick_valid		# brick bits power is good when bit 1
 uint8 usb_valid 		# USB is valid when 1
 uint8 servo_valid		# servo power is good when 1
 uint8 periph_5v_oc		# peripheral overcurrent when 1
-uint8 hipower_5v_oc		# hi power peripheral overcurrent when 1
+uint8 hipower_5v_oc		# high power peripheral overcurrent when 1
 
 uint8 BRICK1_VALID_SHIFTS=0
 uint8 BRICK1_VALID_MASK=1

msg/vehicle_acceleration.msg

@@ -3,4 +3,4 @@ uint64 timestamp		# time since system start (microseconds)
 
 uint64 timestamp_sample		# the timestamp of the raw data (microseconds)
 
-float32[3] xyz			# Bias corrected acceleration (including gravity) in body axis (in m/s^2)
+float32[3] xyz			# Bias corrected acceleration (including gravity) in the FRD body frame XYZ-axis in m/s^2

msg/vehicle_air_data.msg

@@ -6,7 +6,7 @@ uint64 timestamp_sample     # the timestamp of the raw data (microseconds)
 uint32 baro_device_id       # unique device ID for the selected barometer
 
 float32 baro_alt_meter			# Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH.
-float32 baro_temp_celcius		# Temperature in degrees celsius
+float32 baro_temp_celcius		# Temperature in degrees Celsius
-float32 baro_pressure_pa		# Absolute pressure in pascals
+float32 baro_pressure_pa		# Absolute pressure in Pascals
 
 float32 rho				# air density

msg/vehicle_angular_acceleration.msg

@@ -2,4 +2,4 @@
 uint64 timestamp        # time since system start (microseconds)
 uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds)
 
-float32[3] xyz          # angular acceleration about X, Y, Z body axis in rad/s^2,
+float32[3] xyz          # angular acceleration about the FRD body frame XYZ-axis in rad/s^2

msg/vehicle_angular_velocity.msg

@@ -2,6 +2,6 @@
 uint64 timestamp        # time since system start (microseconds)
 uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds)
 
-float32[3] xyz		# Bias corrected angular velocity about X, Y, Z body axis in rad/s
+float32[3] xyz		# Bias corrected angular velocity about the FRD body frame XYZ-axis in rad/s
 
 # TOPICS vehicle_angular_velocity vehicle_angular_velocity_groundtruth

msg/vehicle_attitude.msg

@@ -1,10 +1,10 @@
 # This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use
 
-uint64 timestamp		# time since system start (microseconds)
+uint64 timestamp		    # time since system start (microseconds)
 
-uint64 timestamp_sample         # the timestamp of the raw data (microseconds)
+uint64 timestamp_sample     # the timestamp of the raw data (microseconds)
 
-float32[4] q			# Quaternion rotation from XYZ body frame to NED earth frame.
+float32[4] q			    # Quaternion rotation from the FRD body frame to the NED earth frame
 float32[4] delta_q_reset 	# Amount by which quaternion has changed during last reset
 uint8 quat_reset_counter	# Quaternion reset counter
 

msg/vehicle_imu.msg

@@ -6,10 +6,10 @@ uint64 timestamp_sample
 uint32 accel_device_id          # Accelerometer unique device ID for the sensor that does not change between power cycles
 uint32 gyro_device_id           # Gyroscope unique device ID for the sensor that does not change between power cycles
 
-float32[3] delta_angle          # delta angle in the NED board axis in rad/s over the integration time frame (dt)
+float32[3] delta_angle          # delta angle about the FRD body frame XYZ-axis in rad over the integration time frame (delta_angle_dt)
-float32[3] delta_velocity       # delta velocity in the NED board axis in m/s over the integration time frame (dt)
+float32[3] delta_velocity       # delta velocity in the FRD body frame XYZ-axis in m/s over the integration time frame (delta_velocity_dt)
-uint16 delta_angle_dt           # integration period in us
+uint16 delta_angle_dt           # integration period in microseconds
-uint16 delta_velocity_dt        # integration period in us
+uint16 delta_velocity_dt        # integration period in microseconds
 
 uint8 CLIPPING_X = 1
 uint8 CLIPPING_Y = 2

msg/vehicle_magnetometer.msg

@@ -5,6 +5,6 @@ uint64 timestamp_sample     # the timestamp of the raw data (microseconds)
 
 uint32 device_id            # unique device ID for the selected magnetometer
 
-float32[3] magnetometer_ga  # Magnetic field in NED body frame, in Gauss
+float32[3] magnetometer_ga  # Magnetic field in the FRD body frame XYZ-axis in Gauss
 
 uint8 calibration_count     # Calibration changed counter. Monotonically increases whenever calibration changes.