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# SensorCorrection (UORB message)

Sensor corrections in SI-unit form for the voted sensor.

**TOPICS:** sensor_correction

## Fields

| Name                                                | Type         | Unit [Frame] | Range/Enum | Description                                                      |
| --------------------------------------------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp                 | `uint64`     |              |            | time since system start (microseconds)                           |
| <a id="fld_accel_device_ids"></a>accel_device_ids   | `uint32[4]`  |              |            |
| <a id="fld_accel_temperature"></a>accel_temperature | `float32[4]` |              |            |
| <a id="fld_accel_offset_0"></a>accel_offset_0       | `float32[3]` |              |            | accelerometer 0 offsets in the FRD board frame XYZ-axis in m/s^s |
| <a id="fld_accel_offset_1"></a>accel_offset_1       | `float32[3]` |              |            | accelerometer 1 offsets in the FRD board frame XYZ-axis in m/s^s |
| <a id="fld_accel_offset_2"></a>accel_offset_2       | `float32[3]` |              |            | accelerometer 2 offsets in the FRD board frame XYZ-axis in m/s^s |
| <a id="fld_accel_offset_3"></a>accel_offset_3       | `float32[3]` |              |            | accelerometer 3 offsets in the FRD board frame XYZ-axis in m/s^s |
| <a id="fld_gyro_device_ids"></a>gyro_device_ids     | `uint32[4]`  |              |            |
| <a id="fld_gyro_temperature"></a>gyro_temperature   | `float32[4]` |              |            |
| <a id="fld_gyro_offset_0"></a>gyro_offset_0         | `float32[3]` |              |            | gyro 0 XYZ offsets in the sensor frame in rad/s                  |
| <a id="fld_gyro_offset_1"></a>gyro_offset_1         | `float32[3]` |              |            | gyro 1 XYZ offsets in the sensor frame in rad/s                  |
| <a id="fld_gyro_offset_2"></a>gyro_offset_2         | `float32[3]` |              |            | gyro 2 XYZ offsets in the sensor frame in rad/s                  |
| <a id="fld_gyro_offset_3"></a>gyro_offset_3         | `float32[3]` |              |            | gyro 3 XYZ offsets in the sensor frame in rad/s                  |
| <a id="fld_mag_device_ids"></a>mag_device_ids       | `uint32[4]`  |              |            |
| <a id="fld_mag_temperature"></a>mag_temperature     | `float32[4]` |              |            |
| <a id="fld_mag_offset_0"></a>mag_offset_0           | `float32[3]` |              |            | magnetometer 0 offsets in the FRD board frame XYZ-axis in m/s^s  |
| <a id="fld_mag_offset_1"></a>mag_offset_1           | `float32[3]` |              |            | magnetometer 1 offsets in the FRD board frame XYZ-axis in m/s^s  |
| <a id="fld_mag_offset_2"></a>mag_offset_2           | `float32[3]` |              |            | magnetometer 2 offsets in the FRD board frame XYZ-axis in m/s^s  |
| <a id="fld_mag_offset_3"></a>mag_offset_3           | `float32[3]` |              |            | magnetometer 3 offsets in the FRD board frame XYZ-axis in m/s^s  |
| <a id="fld_baro_device_ids"></a>baro_device_ids     | `uint32[4]`  |              |            |
| <a id="fld_baro_temperature"></a>baro_temperature   | `float32[4]` |              |            |
| <a id="fld_baro_offset_0"></a>baro_offset_0         | `float32`    |              |            | barometric pressure 0 offsets in the sensor frame in Pascals     |
| <a id="fld_baro_offset_1"></a>baro_offset_1         | `float32`    |              |            | barometric pressure 1 offsets in the sensor frame in Pascals     |
| <a id="fld_baro_offset_2"></a>baro_offset_2         | `float32`    |              |            | barometric pressure 2 offsets in the sensor frame in Pascals     |
| <a id="fld_baro_offset_3"></a>baro_offset_3         | `float32`    |              |            | barometric pressure 3 offsets in the sensor frame in Pascals     |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorCorrection.msg)

::: details Click here to see original file

```c
#
# Sensor corrections in SI-unit form for the voted sensor
#

uint64 timestamp		# time since system start (microseconds)

# 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[4] accel_temperature
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 gyro angular rate outputs where corrected_rate = raw_rate * gyro_scale + gyro_offset
# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
uint32[4] gyro_device_ids
float32[4] gyro_temperature
float32[3] gyro_offset_0	# gyro 0 XYZ offsets in the sensor frame in rad/s
float32[3] gyro_offset_1	# gyro 1 XYZ offsets in the sensor frame in rad/s
float32[3] gyro_offset_2	# gyro 2 XYZ offsets in the sensor frame in rad/s
float32[3] gyro_offset_3	# gyro 3 XYZ offsets in the sensor frame in rad/s

# Corrections for magnetometer measurement outputs where corrected_mag = raw_mag * mag_scale + mag_offset
# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
uint32[4] mag_device_ids
float32[4] mag_temperature
float32[3] mag_offset_0	# magnetometer 0 offsets in the FRD board frame XYZ-axis in m/s^s
float32[3] mag_offset_1	# magnetometer 1 offsets in the FRD board frame XYZ-axis in m/s^s
float32[3] mag_offset_2	# magnetometer 2 offsets in the FRD board frame XYZ-axis in m/s^s
float32[3] mag_offset_3	# magnetometer 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[4] baro_temperature
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
```

:::