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Changed all 'NED board' references to 'FRD body'. Also cleaned up mix… #16337

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Changed all 'NED board' references to 'FRD body'. Also cleaned up mix… #16337

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ebdcde2
Changed all 'NED board' references to 'FRD body'. Also cleaned up mix…
Dec 6, 2020
fb4b9de
Conflict fix
Dec 6, 2020
ecec7b6
Conflict fix
Dec 6, 2020
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6 changes: 3 additions & 3 deletions msg/sensor_accel.msg
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Expand Up @@ -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

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6 changes: 3 additions & 3 deletions msg/sensor_accel_fifo.msg
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Expand Up @@ -8,6 +8,6 @@ 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
2 changes: 1 addition & 1 deletion msg/sensor_accel_integrated.msg
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Expand Up @@ -5,7 +5,7 @@ uint32 device_id # unique device ID for the sensor that does not change

uint64 error_count

float32[3] delta_velocity # delta velocity in the NED board axis in m/s over the integration time frame (dt)
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

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4 changes: 2 additions & 2 deletions msg/sensor_combined.msg
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Expand Up @@ -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
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12 changes: 6 additions & 6 deletions msg/sensor_correction.msg
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Expand Up @@ -21,29 +21,29 @@ float32[3] gyro_scale_2 # gyro XYZ scale factors in the sensor frame
# 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
# corrections for uORB instance 0
float32[3] accel_offset_0 # accelerometer XYZ offsets in the sensor frame in m/s/s
float32[3] accel_offset_0 # accelerometer XYZ offsets in the sensor frame in m/s^2
float32[3] accel_scale_0 # accelerometer XYZ scale factors in the sensor frame

# corrections for uORB instance 1
float32[3] accel_offset_1 # accelerometer XYZ offsets in the sensor frame in m/s/s
float32[3] accel_offset_1 # accelerometer XYZ offsets in the sensor frame in m/s^2
float32[3] accel_scale_1 # accelerometer XYZ scale factors in the sensor frame

# corrections for uORB instance 2
float32[3] accel_offset_2 # accelerometer XYZ offsets in the sensor frame in m/s/s
float32[3] accel_offset_2 # accelerometer XYZ offsets in the sensor frame in m/s^2
float32[3] accel_scale_2 # accelerometer XYZ scale factors in the sensor frame

# 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
# corrections for uORB instance 0
float32 baro_offset_0 # barometric pressure offsets in the sensor frame in m/s/s
float32 baro_offset_0 # barometric pressure offsets in the sensor frame in m/s^2
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float32 baro_offset_0 # barometric pressure offsets in the sensor frame in m/s^2
float32 baro_offset_0 # barometric pressure offsets in the sensor frame in Pascals.

float32 baro_scale_0 # barometric pressure scale factors in the sensor frame

# corrections for uORB instance 1
float32 baro_offset_1 # barometric pressure offsets in the sensor frame in m/s/s
float32 baro_offset_1 # barometric pressure offsets in the sensor frame in m/s^2
float32 baro_scale_1 # barometric pressure scale factors in the sensor frame

# corrections for uORB instance 2
float32 baro_offset_2 # barometric pressure offsets in the sensor frame in m/s/s
float32 baro_offset_2 # barometric pressure offsets in the sensor frame in m/s^2
float32 baro_scale_2 # barometric pressure scale factors in the sensor frame

# Mapping from uORB index to parameter index for each sensor type. For example accel_mapping[1] contains the
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6 changes: 3 additions & 3 deletions msg/sensor_gyro.msg
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Expand Up @@ -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

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6 changes: 3 additions & 3 deletions msg/sensor_gyro_fifo.msg
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Expand Up @@ -8,6 +8,6 @@ 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
2 changes: 1 addition & 1 deletion msg/sensor_gyro_integrated.msg
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Expand Up @@ -5,7 +5,7 @@ uint32 device_id # unique device ID for the sensor that does not change

uint64 error_count

float32[3] delta_angle # delta angle in the NED board axis in rad/s over the integration time frame (dt)
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

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8 changes: 4 additions & 4 deletions msg/sensor_mag.msg
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Expand Up @@ -3,11 +3,11 @@ uint32 device_id # unique device ID for the sensor that does not change between

uint64 error_count

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
float32 temperature # temperature in degrees Celsius

float32 scaling # scaling from raw to Gauss
int16 x_raw
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2 changes: 1 addition & 1 deletion msg/sensor_preflight.msg
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Expand Up @@ -3,6 +3,6 @@
# 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/s).
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.
2 changes: 1 addition & 1 deletion msg/vehicle_acceleration.msg
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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
2 changes: 1 addition & 1 deletion msg/vehicle_angular_acceleration.msg
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Expand Up @@ -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,
2 changes: 1 addition & 1 deletion msg/vehicle_angular_velocity.msg
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Expand Up @@ -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
2 changes: 1 addition & 1 deletion msg/vehicle_attitude.msg
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Expand Up @@ -2,7 +2,7 @@

uint64 timestamp # time since system start (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

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4 changes: 2 additions & 2 deletions msg/vehicle_imu.msg
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Expand Up @@ -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 body frame XYZ-axis in rad/s over the integration time frame (dt)
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 period in us

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2 changes: 1 addition & 1 deletion msg/vehicle_magnetometer.msg
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@@ -1,3 +1,3 @@
uint64 timestamp # time since system start (microseconds)

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