msg: Add mapping from uORB index to compensation parameter index

This mapping is required so other applications can use the correct compensation data, even if the uORB ordering changes.
8 years ago · ba9e8741c0
1 changed files with 6 additions and 0 deletions
--- a/msg/sensor_correction.msg
+++ b/msg/sensor_correction.msg
@ -47,3 +47,9 @@ float32 baro_scale_2		# barometric pressure scale factors in the sensor frame
				@@ -47,3 +47,9 @@ 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