diff --git a/msg/sensor_combined.msg b/msg/sensor_combined.msg index 0845918f3b..ec58e6f923 100644 --- a/msg/sensor_combined.msg +++ b/msg/sensor_combined.msg @@ -26,100 +26,49 @@ uint32 SENSOR_PRIO_MAX = 255 # NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only uint64 timestamp # Timestamp in microseconds since boot, from gyro -# -int16[3] gyro_raw # Raw sensor values of angular velocity -float32[3] gyro_rad_s # Angular velocity in radian per seconds -uint32 gyro_priority # Sensor priority -float32[3] gyro_integral_rad # delta angle in radians -uint64 gyro_integral_dt # delta time for gyro integral in us -uint32 gyro_errcount # Error counter for gyro 0 -float32 gyro_temp # Temperature of gyro 0 +uint64[3] gyro_timestamp # Gyro timestamps +int16[9] gyro_raw # Raw sensor values of angular velocity +float32[9] gyro_rad_s # Angular velocity in radian per seconds +uint32[3] gyro_priority # Sensor priority +float32[9] gyro_integral_rad # delta angle in radians +uint64[3] gyro_integral_dt # delta time for gyro integral in us +uint32[3] gyro_errcount # Error counter for gyro 0 +float32[3] 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 -float32[3] accelerometer_integral_m_s # velocity in NED body frame, in m/s^2 -uint64 accelerometer_integral_dt # delta time for accel integral in us -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_priority # Sensor priority -uint32 accelerometer_errcount # Error counter for accel 0 -float32 accelerometer_temp # Temperature of accel 0 +int16[9] accelerometer_raw # Raw acceleration in NED body frame +float32[9] accelerometer_m_s2 # Acceleration in NED body frame, in m/s^2 +float32[9] accelerometer_integral_m_s # velocity in NED body frame, in m/s^2 +uint64[3] accelerometer_integral_dt # delta time for accel integral in us +int16[3] accelerometer_mode # Accelerometer measurement mode +float32[3] accelerometer_range_m_s2 # Accelerometer measurement range in m/s^2 +uint64[3] accelerometer_timestamp # Accelerometer timestamp +uint32[3] accelerometer_priority # Sensor priority +uint32[3] accelerometer_errcount # Error counter for accel 0 +float32[3] 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_priority # Sensor priority -uint32 magnetometer_errcount # Error counter for mag 0 -float32 magnetometer_temp # Temperature of mag 0 +int16[9] magnetometer_raw # Raw magnetic field in NED body frame +float32[9] magnetometer_ga # Magnetic field in NED body frame, in Gauss +int16[3] magnetometer_mode # Magnetometer measurement mode +float32[3] magnetometer_range_ga # measurement range in Gauss +float32[3] magnetometer_cuttoff_freq_hz # Internal analog low pass frequency of sensor +uint64[3] magnetometer_timestamp # Magnetometer timestamp +uint32[3] magnetometer_priority # Sensor priority +uint32[3] magnetometer_errcount # Error counter for mag 0 +float32[3] 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_priority # Sensor priority -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_priority # Sensor priority -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_priority # Sensor priority -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_priority # Sensor priority -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_priority # Sensor priority -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_priority # Sensor priority -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 -uint32 baro_priority # Sensor priority - -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 -uint32 baro1_priority # Sensor priority +float32[3] baro_pres_mbar # Barometric pressure, already temp. comp. +float32[3] baro_alt_meter # Altitude, already temp. comp. +float32[3] baro_temp_celcius # Temperature in degrees celsius +uint64[3] baro_timestamp # Barometer timestamp +uint32[3] baro_priority # Sensor priority +uint32[3] baro_errcount # Error count in communication 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 -uint32 differential_pressure_priority # Sensor priority - -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 -uint32 differential_pressure1_priority # Sensor priority +float32[3] differential_pressure_pa # Airspeed sensor differential pressure +uint64[3] differential_pressure_timestamp # Last measurement timestamp +float32[3] differential_pressure_filtered_pa # Low pass filtered airspeed sensor differential pressure reading +uint32[3] differential_pressure_priority # Sensor priority +uint32[3] differential_pressure_errcount # Error count in communication