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Changed all 'NED board' references to 'FRD body'. Also cleaned up mix… #16339

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merged 4 commits into from
Dec 15, 2020
Merged

Changed all 'NED board' references to 'FRD body'. Also cleaned up mix… #16339

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7d28f4d
Changed all 'NED board' references to 'FRD body'. Also cleaned up mix…
Dec 6, 2020
251e234
Update msg/sensor_combined.msg
rblilja Dec 7, 2020
f4c1dba
Update msg/sensors_status_imu.msg
rblilja Dec 7, 2020
790cddd
clarify sensors_ msgs as in board frame
bresch Dec 14, 2020
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8 changes: 4 additions & 4 deletions msg/sensor_accel.msg
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Expand Up @@ -3,11 +3,11 @@ 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 board frame X-axis in m/s^2
float32 y # acceleration in the FRD board frame Y-axis in m/s^2
float32 z # acceleration in the FRD board frame Z-axis in m/s^2

float32 temperature # temperature in degrees celsius
float32 temperature # temperature in degrees Celsius

uint32 error_count

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6 changes: 3 additions & 3 deletions msg/sensor_accel_fifo.msg
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Expand Up @@ -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 board frame X-axis in m/s^2
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To add to the confusion these FIFO messages are the raw data that we get out of an IMU's FIFO. They're in the sensor frame and the data is raw 16 bit integers, typically with UINT16_MAX corresponding to the configured max range (eg 16 G accelerometer). That's why the message carries a rotation and scale factor.

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Ouch, so they're not always in the same frame as sensor_accel ?

int16[32] y # acceleration in the FRD board frame Y-axis in m/s^2
int16[32] z # acceleration in the FRD board frame Z-axis in m/s^2

uint8 rotation # Direction the sensor faces (see Rotation enum)
2 changes: 1 addition & 1 deletion msg/sensor_baro.msg
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Expand Up @@ -7,4 +7,4 @@ uint32 error_count

float32 pressure # static pressure measurement in millibar

float32 temperature # static temperature measurement in deg C
float32 temperature # static temperature measurement in deg Celsius
8 changes: 4 additions & 4 deletions msg/sensor_combined.msg
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Expand Up @@ -7,12 +7,12 @@ 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
uint32 gyro_integral_dt # gyro measurement sampling period in us
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 microseconds

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
uint32 accelerometer_integral_dt # accelerometer measurement sampling period in us
float32[3] accelerometer_m_s2 # average value acceleration measured in the FRD body frame XYZ-axis in m/s^2 over the last accelerometer sampling period
uint32 accelerometer_integral_dt # accelerometer measurement sampling period in microseconds

uint8 CLIPPING_X = 1
uint8 CLIPPING_Y = 2
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16 changes: 8 additions & 8 deletions msg/sensor_correction.msg
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Expand Up @@ -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 offsets in the FRD board frame XYZ-axis in m/s^s
float32[3] accel_offset_1 # accelerometer 1 offsets in the FRD board frame XYZ-axis in m/s^s
float32[3] accel_offset_2 # accelerometer 2 offsets in the FRD board frame XYZ-axis in m/s^s
float32[3] accel_offset_3 # accelerometer 3 offsets in the FRD board frame XYZ-axis in m/s^s

# 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
8 changes: 4 additions & 4 deletions msg/sensor_gyro.msg
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Expand Up @@ -3,11 +3,11 @@ 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 board frame X-axis in rad/s
float32 y # angular velocity in the FRD board frame Y-axis in rad/s
float32 z # angular velocity in the FRD board frame Z-axis in rad/s

float32 temperature # temperature in degrees celsius
float32 temperature # temperature in degrees Celsius

uint32 error_count

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6 changes: 3 additions & 3 deletions msg/sensor_gyro_fifo.msg
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Expand Up @@ -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 board frame X-axis in rad/s
int16[32] y # angular velocity in the FRD board frame Y-axis in rad/s
int16[32] z # angular velocity in the FRD board frame Z-axis in rad/s

uint8 rotation # Direction the sensor faces (see Rotation enum)
8 changes: 4 additions & 4 deletions msg/sensor_mag.msg
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Expand Up @@ -3,11 +3,11 @@ 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 board frame X-axis in Gauss
float32 y # magnetic field in the FRD board frame Y-axis in Gauss
float32 z # magnetic field in the FRD board frame Z-axis in Gauss

float32 temperature # temperature in degrees celsius
float32 temperature # temperature in degrees Celsius

uint32 error_count

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2 changes: 1 addition & 1 deletion msg/sensors_status_imu.msg
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Expand Up @@ -6,7 +6,7 @@ uint64 timestamp # time since system start (microseconds)
uint32 accel_device_id_primary # current primary accel device id for reference

uint32[4] accel_device_ids
float32[4] accel_inconsistency_m_s_s # magnitude of acceleration difference between IMU instance and mean in (m/s/s).
float32[4] accel_inconsistency_m_s_s # magnitude of acceleration difference between IMU instance and mean in m/s^2.
bool[4] accel_healthy


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2 changes: 1 addition & 1 deletion msg/system_power.msg
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Expand Up @@ -7,7 +7,7 @@ uint8 brick_valid # brick bits power is good when bit 1
uint8 usb_valid # USB is valid when 1
uint8 servo_valid # servo power is good when 1
uint8 periph_5v_oc # peripheral overcurrent when 1
uint8 hipower_5v_oc # hi power peripheral overcurrent when 1
uint8 hipower_5v_oc # high power peripheral overcurrent when 1

uint8 BRICK1_VALID_SHIFTS=0
uint8 BRICK1_VALID_MASK=1
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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 the FRD body frame XYZ-axis in m/s^2
4 changes: 2 additions & 2 deletions msg/vehicle_air_data.msg
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Expand Up @@ -6,7 +6,7 @@ uint64 timestamp_sample # the timestamp of the raw data (microseconds)
uint32 baro_device_id # unique device ID for the selected barometer

float32 baro_alt_meter # Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH.
float32 baro_temp_celcius # Temperature in degrees celsius
float32 baro_pressure_pa # Absolute pressure in pascals
float32 baro_temp_celcius # Temperature in degrees Celsius
float32 baro_pressure_pa # Absolute pressure in Pascals

float32 rho # air density
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 about the 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 about the FRD body frame XYZ-axis in rad/s

# TOPICS vehicle_angular_velocity vehicle_angular_velocity_groundtruth
6 changes: 3 additions & 3 deletions msg/vehicle_attitude.msg
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@@ -1,10 +1,10 @@
# This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use

uint64 timestamp # time since system start (microseconds)
uint64 timestamp # time since system start (microseconds)

uint64 timestamp_sample # the timestamp of the raw data (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 the FRD body frame to the 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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8 changes: 4 additions & 4 deletions msg/vehicle_imu.msg
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Expand Up @@ -6,10 +6,10 @@ 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)
uint16 delta_angle_dt # integration period in us
uint16 delta_velocity_dt # integration period in us
float32[3] delta_angle # delta angle about the FRD body frame XYZ-axis in rad over the integration time frame (delta_angle_dt)
float32[3] delta_velocity # delta velocity in the FRD body frame XYZ-axis in m/s over the integration time frame (delta_velocity_dt)
uint16 delta_angle_dt # integration period in microseconds
uint16 delta_velocity_dt # integration period in microseconds

uint8 CLIPPING_X = 1
uint8 CLIPPING_Y = 2
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2 changes: 1 addition & 1 deletion msg/vehicle_magnetometer.msg
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Expand Up @@ -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 the FRD body frame XYZ-axis in Gauss

uint8 calibration_count # Calibration changed counter. Monotonically increases whenever calibration changes.