Estimatorsensorbias

EstimatorSensorBias (UORB message)

Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets, scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).

source file

```c

Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,

scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).

uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds)

In-run bias estimates (subtract from uncorrected data)

uint32 gyro_device_id # unique device ID for the sensor that does not change between power cycles float32[3] gyro_bias # gyroscope in-run bias in body frame (rad/s) float32 gyro_bias_limit # magnitude of maximum gyroscope in-run bias in body frame (rad/s) float32[3] gyro_bias_variance bool gyro_bias_valid bool gyro_bias_stable # true when the gyro bias estimate is stable enough to use for calibration

uint32 accel_device_id # unique device ID for the sensor that does not change between power cycles float32[3] accel_bias # accelerometer in-run bias in body frame (m/s^2) float32 accel_bias_limit # magnitude of maximum accelerometer in-run bias in body frame (m/s^2) float32[3] accel_bias_variance bool accel_bias_valid bool accel_bias_stable # true when the accel bias estimate is stable enough to use for calibration

uint32 mag_device_id # unique device ID for the sensor that does not change between power cycles float32[3] mag_bias # magnetometer in-run bias in body frame (Gauss) float32 mag_bias_limit # magnitude of maximum magnetometer in-run bias in body frame (Gauss) float32[3] mag_bias_variance bool mag_bias_valid bool mag_bias_stable # true when the mag bias estimate is stable enough to use for calibration

```