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14 lines
539 B
14 lines
539 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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# In-run bias estimates (subtract from uncorrected data) |
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float32[3] gyro_bias # gyroscope in-run bias in body frame (rad/s) |
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float32[3] accel_bias # accelerometer in-run bias in body frame (m/s^2) |
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float32[3] mag_bias # magnetometer in-run bias in body frame (Gauss)
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