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21 lines
1005 B
21 lines
1005 B
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# Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets, |
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# scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available). |
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uint64 timestamp # time since system start (microseconds) |
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uint64 timestamp_sample # the timestamp of the raw data (microseconds) |
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# In-run bias estimates (subtract from uncorrected data) |
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uint32 gyro_device_id # unique device ID for the sensor that does not change between power cycles |
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float32[3] gyro_bias # gyroscope in-run bias in body frame (rad/s) |
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float32[3] gyro_bias_variance |
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uint32 accel_device_id # unique device ID for the sensor that does not change between power cycles |
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float32[3] accel_bias # accelerometer in-run bias in body frame (m/s^2) |
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float32[3] accel_bias_variance |
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uint32 mag_device_id # unique device ID for the sensor that does not change between power cycles |
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float32[3] mag_bias # magnetometer in-run bias in body frame (Gauss) |
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float32[3] mag_bias_variance
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