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74 lines
3.7 KiB
74 lines
3.7 KiB
# Definition of the sensor_combined uORB topic. |
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int32 MAGNETOMETER_MODE_NORMAL = 0 |
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int32 MAGNETOMETER_MODE_POSITIVE_BIAS = 1 |
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int32 MAGNETOMETER_MODE_NEGATIVE_BIAS = 2 |
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uint32 SENSOR_PRIO_MIN = 0 |
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uint32 SENSOR_PRIO_VERY_LOW = 25 |
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uint32 SENSOR_PRIO_LOW = 50 |
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uint32 SENSOR_PRIO_DEFAULT = 75 |
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uint32 SENSOR_PRIO_HIGH = 100 |
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uint32 SENSOR_PRIO_VERY_HIGH = 125 |
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uint32 SENSOR_PRIO_MAX = 255 |
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# Sensor readings in raw and SI-unit form. |
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# |
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# These values are read from the sensors. Raw values are in sensor-specific units, |
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# the scaled values are in SI-units, as visible from the ending of the variable |
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# or the comments. The use of the SI fields is in general advised, as these fields |
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# are scaled and offset-compensated where possible and do not change with board |
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# revisions and sensor updates. |
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# |
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# Actual data, this is specific to the type of data which is stored in this struct |
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# A line containing L0GME will be added by the Python logging code generator to the logged dataset. |
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# |
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# NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only |
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uint64 timestamp # Timestamp in microseconds since boot, from gyro |
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uint64[3] gyro_timestamp # Gyro timestamps |
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int16[9] gyro_raw # Raw sensor values of angular velocity |
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float32[9] gyro_rad_s # Angular velocity in radian per seconds |
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uint32[3] gyro_priority # Sensor priority |
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float32[9] gyro_integral_rad # delta angle in radians |
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uint64[3] gyro_integral_dt # delta time for gyro integral in us |
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uint32[3] gyro_errcount # Error counter for gyro 0 |
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float32[3] gyro_temp # Temperature of gyro 0 |
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int16[9] accelerometer_raw # Raw acceleration in NED body frame |
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float32[9] accelerometer_m_s2 # Acceleration in NED body frame, in m/s^2 |
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float32[9] accelerometer_integral_m_s # velocity in NED body frame, in m/s^2 |
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uint64[3] accelerometer_integral_dt # delta time for accel integral in us |
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int16[3] accelerometer_mode # Accelerometer measurement mode |
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float32[3] accelerometer_range_m_s2 # Accelerometer measurement range in m/s^2 |
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uint64[3] accelerometer_timestamp # Accelerometer timestamp |
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uint32[3] accelerometer_priority # Sensor priority |
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uint32[3] accelerometer_errcount # Error counter for accel 0 |
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float32[3] accelerometer_temp # Temperature of accel 0 |
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int16[9] magnetometer_raw # Raw magnetic field in NED body frame |
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float32[9] magnetometer_ga # Magnetic field in NED body frame, in Gauss |
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int16[3] magnetometer_mode # Magnetometer measurement mode |
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float32[3] magnetometer_range_ga # measurement range in Gauss |
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float32[3] magnetometer_cuttoff_freq_hz # Internal analog low pass frequency of sensor |
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uint64[3] magnetometer_timestamp # Magnetometer timestamp |
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uint32[3] magnetometer_priority # Sensor priority |
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uint32[3] magnetometer_errcount # Error counter for mag 0 |
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float32[3] magnetometer_temp # Temperature of mag 0 |
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float32[3] baro_pres_mbar # Barometric pressure, already temp. comp. |
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float32[3] baro_alt_meter # Altitude, already temp. comp. |
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float32[3] baro_temp_celcius # Temperature in degrees celsius |
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uint64[3] baro_timestamp # Barometer timestamp |
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uint32[3] baro_priority # Sensor priority |
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uint32[3] baro_errcount # Error count in communication |
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float32[10] adc_voltage_v # ADC voltages of ADC Chan 10/11/12/13 or -1 |
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uint16[10] adc_mapping # Channel indices of each of these values |
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float32 mcu_temp_celcius # Internal temperature measurement of MCU |
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float32[3] differential_pressure_pa # Airspeed sensor differential pressure |
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uint64[3] differential_pressure_timestamp # Last measurement timestamp |
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float32[3] differential_pressure_filtered_pa # Low pass filtered airspeed sensor differential pressure reading |
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uint32[3] differential_pressure_priority # Sensor priority |
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uint32[3] differential_pressure_errcount # Error count in communication
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