# Definition of the hil_sensor uORB topic. int32 MAGNETOMETER_MODE_NORMAL = 0 int32 MAGNETOMETER_MODE_POSITIVE_BIAS = 1 int32 MAGNETOMETER_MODE_NEGATIVE_BIAS = 2 # Sensor readings in raw and SI-unit form. # # These values are read from the sensors. Raw values are in sensor-specific units, # the scaled values are in SI-units, as visible from the ending of the variable # or the comments. The use of the SI fields is in general advised, as these fields # are scaled and offset-compensated where possible and do not change with board # revisions and sensor updates. # # Actual data, this is specific to the type of data which is stored in this struct # A line containing L0GME will be added by the Python logging code generator to the logged dataset. # # NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only # int16[3] gyro_raw # Raw sensor values of angular velocity float32[3] gyro_rad_s # Angular velocity in radian per seconds uint32 gyro_errcount # Error counter for gyro 0 float32 gyro_temp # Temperature of gyro 0 int16[3] accelerometer_raw # Raw acceleration in NED body frame float32[3] accelerometer_m_s2 # Acceleration in NED body frame, in m/s^2 int16 accelerometer_mode # Accelerometer measurement mode float32 accelerometer_range_m_s2 # Accelerometer measurement range in m/s^2 uint64 accelerometer_timestamp # Accelerometer timestamp uint32 accelerometer_errcount # Error counter for accel 0 float32 accelerometer_temp # Temperature of accel 0 int16[3] magnetometer_raw # Raw magnetic field in NED body frame float32[3] magnetometer_ga # Magnetic field in NED body frame, in Gauss int16 magnetometer_mode # Magnetometer measurement mode float32 magnetometer_range_ga # measurement range in Gauss float32 magnetometer_cuttoff_freq_hz # Internal analog low pass frequency of sensor uint64 magnetometer_timestamp # Magnetometer timestamp uint32 magnetometer_errcount # Error counter for mag 0 float32 magnetometer_temp # Temperature of mag 0 int16[3] gyro1_raw # Raw sensor values of angular velocity float32[3] gyro1_rad_s # Angular velocity in radian per seconds uint64 gyro1_timestamp # Gyro timestamp uint32 gyro1_errcount # Error counter for gyro 1 float32 gyro1_temp # Temperature of gyro 1 int16[3] accelerometer1_raw # Raw acceleration in NED body frame float32[3] accelerometer1_m_s2 # Acceleration in NED body frame, in m/s^2 uint64 accelerometer1_timestamp # Accelerometer timestamp uint32 accelerometer1_errcount # Error counter for accel 1 float32 accelerometer1_temp # Temperature of accel 1 int16[3] magnetometer1_raw # Raw magnetic field in NED body frame float32[3] magnetometer1_ga # Magnetic field in NED body frame, in Gauss uint64 magnetometer1_timestamp # Magnetometer timestamp uint32 magnetometer1_errcount # Error counter for mag 1 float32 magnetometer1_temp # Temperature of mag 1 int16[3] gyro2_raw # Raw sensor values of angular velocity float32[3] gyro2_rad_s # Angular velocity in radian per seconds uint64 gyro2_timestamp # Gyro timestamp uint32 gyro2_errcount # Error counter for gyro 1 float32 gyro2_temp # Temperature of gyro 1 int16[3] accelerometer2_raw # Raw acceleration in NED body frame float32[3] accelerometer2_m_s2 # Acceleration in NED body frame, in m/s^2 uint64 accelerometer2_timestamp # Accelerometer timestamp uint32 accelerometer2_errcount # Error counter for accel 2 float32 accelerometer2_temp # Temperature of accel 2 int16[3] magnetometer2_raw # Raw magnetic field in NED body frame float32[3] magnetometer2_ga # Magnetic field in NED body frame, in Gauss uint64 magnetometer2_timestamp # Magnetometer timestamp uint32 magnetometer2_errcount # Error counter for mag 2 float32 magnetometer2_temp # Temperature of mag 2 float32 baro_pres_mbar # Barometric pressure, already temp. comp. float32 baro_alt_meter # Altitude, already temp. comp. float32 baro_temp_celcius # Temperature in degrees celsius uint64 baro_timestamp # Barometer timestamp float32 baro1_pres_mbar # Barometric pressure, already temp. comp. float32 baro1_alt_meter # Altitude, already temp. comp. float32 baro1_temp_celcius # Temperature in degrees celsius uint64 baro1_timestamp # Barometer timestamp float32[10] adc_voltage_v # ADC voltages of ADC Chan 10/11/12/13 or -1 uint16[10] adc_mapping # Channel indices of each of these values float32 mcu_temp_celcius # Internal temperature measurement of MCU float32 differential_pressure_pa # Airspeed sensor differential pressure uint64 differential_pressure_timestamp # Last measurement timestamp float32 differential_pressure_filtered_pa # Low pass filtered airspeed sensor differential pressure reading float32 differential_pressure1_pa # Airspeed sensor differential pressure uint64 differential_pressure1_timestamp # Last measurement timestamp float32 differential_pressure1_filtered_pa # Low pass filtered airspeed sensor differential pressure reading