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b0b46cc9ce
* fix(commander): scale mag cal offset limit with sensor full-scale range The hard 1.3 Ga offset limit assumes ~1.9 Ga full scale, so modern mags (5-49 Ga full scale) fail calibration on large hard-iron offsets they can measure without saturating. Drivers now report their range in sensor_mag and the limit becomes range minus 0.65 Ga worst-case earth field, keeping the 1.3 Ga fallback when the range is unknown. * fix(drivers): correct ADIS16448 and AK8963 mag ranges * refactor(sensors): address review comments - kConstant cal limits - uT conversion helper
18 lines
714 B
Plaintext
18 lines
714 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample
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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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bool is_external # true if the sensor is not mounted on the flight controller board itself
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float32 x # [Gauss] magnetic field in the FRD board frame X-axis
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float32 y # [Gauss] magnetic field in the FRD board frame Y-axis
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float32 z # [Gauss] magnetic field in the FRD board frame Z-axis
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float32 temperature # [°C] Temperature.
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float32 range # [Gauss] full-scale measurement range, 0 if unknown
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uint32 error_count
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uint8 ORB_QUEUE_LENGTH = 4
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