From ba9e8741c048bd33dd40436dec796b9be0593f66 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Sun, 22 Jan 2017 17:03:17 +1100 Subject: [PATCH] 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. --- msg/sensor_correction.msg | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/msg/sensor_correction.msg b/msg/sensor_correction.msg index 4ac3f4c9b4..2529a53240 100644 --- 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 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