PX4 · rblilja · Dec 6, 2020 · Dec 6, 2020 · Dec 6, 2020
diff --git a/msg/sensor_accel.msg b/msg/sensor_accel.msg
@@ -3,9 +3,9 @@ uint64 timestamp_sample
 
 uint32 device_id          # unique device ID for the sensor that does not change between power cycles
 
-float32 x                 # acceleration in the NED X board axis in m/s^2
-float32 y                 # acceleration in the NED Y board axis in m/s^2
-float32 z                 # acceleration in the NED Z board axis in m/s^2
+float32 x                 # acceleration in the FRD body frame X-axis in m/s^2
+float32 y                 # acceleration in the FRD body frame Y-axis in m/s^2
+float32 z                 # acceleration in the FRD body frame Z-axis in m/s^2
 
 float32 temperature       # temperature in degrees celsius
 

diff --git a/msg/sensor_accel_fifo.msg b/msg/sensor_accel_fifo.msg
@@ -8,8 +8,8 @@ float32 scale
 
 uint8 samples             # number of valid samples
 
-int16[32] x               # acceleration in the NED X board axis in m/s/s
-int16[32] y               # acceleration in the NED Y board axis in m/s/s
-int16[32] z               # acceleration in the NED Z board axis in m/s/s
+int16[32] x               # acceleration in the FRD body frame X-axis in m/s^2
+int16[32] y               # acceleration in the FRD body frame Y-axis in m/s^2
+int16[32] z               # acceleration in the FRD body frame Z-axis in m/s^2
 
 uint8 rotation            # Direction the sensor faces (see Rotation enum)
diff --git a/msg/sensor_accel_integrated.msg b/msg/sensor_accel_integrated.msg
@@ -0,0 +1,12 @@
+uint64 timestamp          # time since system start (microseconds)
+uint64 timestamp_sample
+
+uint32 device_id          # unique device ID for the sensor that does not change between power cycles
+
+uint64 error_count
+
+float32[3] delta_velocity # delta velocity in the FRD body frame XYZ-axis in m/s over the integration time frame (dt)
+uint16 dt                 # integration time (microseconds)
+uint8 samples             # number of samples integrated
+
+uint8[3] clip_counter     # clip count per axis over the integration period
diff --git a/msg/sensor_combined.msg b/msg/sensor_combined.msg
@@ -7,11 +7,11 @@ uint64 timestamp				# time since system start (microseconds)
 int32 RELATIVE_TIMESTAMP_INVALID = 2147483647	# (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid
 
 # gyro timstamp is equal to the timestamp of the message
-float32[3] gyro_rad			# average angular rate measured in the XYZ body frame in rad/s over the last gyro sampling period
+float32[3] gyro_rad			# average angular rate measured in the FRD body frame XYZ-axis in rad/s over the last gyro sampling period
 uint32 gyro_integral_dt		# gyro measurement sampling period in us
 
 int32 accelerometer_timestamp_relative	# timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
-float32[3] accelerometer_m_s2		# average value acceleration measured in the XYZ body frame in m/s/s over the last accelerometer sampling period
+float32[3] accelerometer_m_s2		# average value acceleration measured in the FRD frame XYZ-axis in m/s^2 over the last accelerometer sampling period
 uint32 accelerometer_integral_dt	# accelerometer measurement sampling period in us
 
 uint8 CLIPPING_X = 1

diff --git a/msg/sensor_correction.msg b/msg/sensor_correction.msg
@@ -15,15 +15,15 @@ float32[3] gyro_offset_3	# gyro 3 XYZ offsets in the sensor frame in rad/s
 # Corrections for acceleromter acceleration outputs where corrected_accel = raw_accel * accel_scale + accel_offset
 # Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
 uint32[4] accel_device_ids
-float32[3] accel_offset_0	# accelerometer 0 XYZ offsets in the sensor frame in m/s/s
-float32[3] accel_offset_1	# accelerometer 1 XYZ offsets in the sensor frame in m/s/s
-float32[3] accel_offset_2	# accelerometer 2 XYZ offsets in the sensor frame in m/s/s
-float32[3] accel_offset_3	# accelerometer 3 XYZ offsets in the sensor frame in m/s/s
+float32[3] accel_offset_0	# accelerometer 0 XYZ offsets in the sensor frame in m/s^2
+float32[3] accel_offset_1	# accelerometer 1 XYZ offsets in the sensor frame in m/s^2
+float32[3] accel_offset_2	# accelerometer 2 XYZ offsets in the sensor frame in m/s^2
+float32[3] accel_offset_3	# accelerometer 3 XYZ offsets in the sensor frame in m/s^2
 
 # Corrections for barometric pressure outputs where corrected_pressure = raw_pressure * pressure_scale + pressure_offset
 # Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
 uint32[4] baro_device_ids
-float32 baro_offset_0		# barometric pressure 0 offsets in the sensor frame in m/s/s
-float32 baro_offset_1		# barometric pressure 1 offsets in the sensor frame in m/s/s
-float32 baro_offset_2		# barometric pressure 2 offsets in the sensor frame in m/s/s
-float32 baro_offset_3		# barometric pressure 3 offsets in the sensor frame in m/s/s
+float32 baro_offset_0		# barometric pressure 0 offsets in the sensor frame in Pascals
+float32 baro_offset_1		# barometric pressure 1 offsets in the sensor frame in Pascals
+float32 baro_offset_2		# barometric pressure 2 offsets in the sensor frame in Pascals
+float32 baro_offset_3		# barometric pressure 3 offsets in the sensor frame in Pascals
diff --git a/msg/sensor_gyro.msg b/msg/sensor_gyro.msg
@@ -3,9 +3,9 @@ uint64 timestamp_sample
 
 uint32 device_id          # unique device ID for the sensor that does not change between power cycles
 
-float32 x                 # angular velocity in the NED X board axis in rad/s
-float32 y                 # angular velocity in the NED Y board axis in rad/s
-float32 z                 # angular velocity in the NED Z board axis in rad/s
+float32 x                 # angular velocity in the FRD body frame X-axis in rad/s
+float32 y                 # angular velocity in the FRD body frame Y-axis in rad/s
+float32 z                 # angular velocity in the FRD body frame Z-axis in rad/s
 
 float32 temperature       # temperature in degrees celsius
 

diff --git a/msg/sensor_gyro_fifo.msg b/msg/sensor_gyro_fifo.msg
@@ -8,8 +8,8 @@ float32 scale
 
 uint8 samples             # number of valid samples
 
-int16[32] x               # angular velocity in the NED X board axis in rad/s
-int16[32] y               # angular velocity in the NED Y board axis in rad/s
-int16[32] z               # angular velocity in the NED Z board axis in rad/s
+int16[32] x               # angular velocity in the FRD body frame X-axis in rad/s
+int16[32] y               # angular velocity in the FRD body frame Y-axis in rad/s
+int16[32] z               # angular velocity in the FRD body frame Z-axis in rad/s
 
 uint8 rotation            # Direction the sensor faces (see Rotation enum)
diff --git a/msg/sensor_gyro_integrated.msg b/msg/sensor_gyro_integrated.msg
@@ -0,0 +1,12 @@
+uint64 timestamp          # time since system start (microseconds)
+uint64 timestamp_sample
+
+uint32 device_id          # unique device ID for the sensor that does not change between power cycles
+
+uint64 error_count
+
+float32[3] delta_angle    # delta angle in the FRD body frame XYZ-axis in rad/s over the integration time frame (dt)
+uint16 dt                 # integration time (microseconds)
+uint8 samples             # number of samples integrated
+
+uint8[3] clip_counter     # clip count per axis over the integration period
diff --git a/msg/sensor_mag.msg b/msg/sensor_mag.msg
@@ -3,9 +3,9 @@ uint64 timestamp_sample
 
 uint32 device_id          # unique device ID for the sensor that does not change between power cycles
 
-float32 x                 # magnetic field in the NED X board axis in Gauss
-float32 y                 # magnetic field in the NED Y board axis in Gauss
-float32 z                 # magnetic field in the NED Z board axis in Gauss
+float32 x                 # magnetic field in the FRD body frame X-axis in Gauss
+float32 y                 # magnetic field in the FRD body frame Y-axis in Gauss
+float32 z                 # magnetic field in the FRD body frame Z-axis in Gauss
 
 float32 temperature       # temperature in degrees celsius
 

diff --git a/msg/sensor_preflight.msg b/msg/sensor_preflight.msg
@@ -0,0 +1,8 @@
+#
+# Pre-flight sensor check metrics. These will be zero if the vehicle only has one sensor.
+# The topic will not be updated when the vehicle is armed
+#
+uint64 timestamp # time since system start (microseconds)
+float32 accel_inconsistency_m_s_s # magnitude of maximum acceleration difference between IMU instances in (m/s^2).
+float32 gyro_inconsistency_rad_s # magnitude of maximum angular rate difference between IMU instances in (rad/s).
+float32 mag_inconsistency_angle # maximum angle between magnetometer instance field vectors in radians.
diff --git a/msg/vehicle_acceleration.msg b/msg/vehicle_acceleration.msg
@@ -3,4 +3,4 @@ uint64 timestamp		# time since system start (microseconds)
 
 uint64 timestamp_sample		# the timestamp of the raw data (microseconds)
 
-float32[3] xyz			# Bias corrected acceleration (including gravity) in body axis (in m/s^2)
+float32[3] xyz			# Bias corrected acceleration (including gravity) in FRD body frame XYZ-axis in m/s^2
diff --git a/msg/vehicle_angular_acceleration.msg b/msg/vehicle_angular_acceleration.msg
@@ -2,4 +2,4 @@
 uint64 timestamp        # time since system start (microseconds)
 uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds)
 
-float32[3] xyz          # angular acceleration about X, Y, Z body axis in rad/s^2,
+float32[3] xyz          # angular acceleration in FRD body frame XYZ-axis in rad/s^2,
diff --git a/msg/vehicle_angular_velocity.msg b/msg/vehicle_angular_velocity.msg
@@ -2,6 +2,6 @@
 uint64 timestamp        # time since system start (microseconds)
 uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds)
 
-float32[3] xyz		# Bias corrected angular velocity about X, Y, Z body axis in rad/s
+float32[3] xyz		# Bias corrected angular velocity FRD body frame XYZ-axis in rad/s
 
 # TOPICS vehicle_angular_velocity vehicle_angular_velocity_groundtruth
diff --git a/msg/vehicle_attitude.msg b/msg/vehicle_attitude.msg
@@ -4,7 +4,7 @@ uint64 timestamp		# time since system start (microseconds)
 
 uint64 timestamp_sample         # the timestamp of the raw data (microseconds)
 
-float32[4] q			# Quaternion rotation from XYZ body frame to NED earth frame.
+float32[4] q			# Quaternion rotation from FRD body frame to NED earth frame.
 float32[4] delta_q_reset 	# Amount by which quaternion has changed during last reset
 uint8 quat_reset_counter	# Quaternion reset counter
 

diff --git a/msg/vehicle_imu.msg b/msg/vehicle_imu.msg
@@ -6,8 +6,8 @@ uint64 timestamp_sample
 uint32 accel_device_id          # Accelerometer unique device ID for the sensor that does not change between power cycles
 uint32 gyro_device_id           # Gyroscope unique device ID for the sensor that does not change between power cycles
 
-float32[3] delta_angle          # delta angle in the NED board axis in rad/s over the integration time frame (dt)
-float32[3] delta_velocity       # delta velocity in the NED board axis in m/s over the integration time frame (dt)
+float32[3] delta_angle          # delta angle in the FRD frame body XYZ-axis in rad/s over the integration time frame (dt)
+float32[3] delta_velocity       # delta velocity in the FRD frame body XYZ-axis in m/s over the integration time frame (dt)
 uint16 delta_angle_dt           # integration period in us
 uint16 delta_velocity_dt        # integration period in us
 

diff --git a/msg/vehicle_magnetometer.msg b/msg/vehicle_magnetometer.msg
@@ -5,6 +5,6 @@ uint64 timestamp_sample     # the timestamp of the raw data (microseconds)
 
 uint32 device_id            # unique device ID for the selected magnetometer
 
-float32[3] magnetometer_ga  # Magnetic field in NED body frame, in Gauss
+float32[3] magnetometer_ga  # Magnetic field in FRD body frame XYZ-axis in Gauss
 
 uint8 calibration_count     # Calibration changed counter. Monotonically increases whenever calibration changes.
Original file line number	Diff line number	Diff line change
Expand Up		@@ -3,4 +3,4 @@ uint64 timestamp # time since system start (microseconds)

		uint64 timestamp_sample # the timestamp of the raw data (microseconds)

		float32[3] xyz # Bias corrected acceleration (including gravity) in body axis (in m/s^2)
		float32[3] xyz # Bias corrected acceleration (including gravity) in FRD body frame XYZ-axis in m/s^2