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APM: added SENSOR_OFFSETS message

this allows monitoring of the sensor calibration values, which is
useful for debugging sensor issues
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1 parent 07151d4 commit c4758d94e18e86c74f2137f3b9ed5f15a026e2c5 @tridge committed Aug 13, 2011
Showing with 27 additions and 4 deletions.
  1. +27 −4 message_definitions/ardupilotmega.xml
@@ -1,6 +1,29 @@
-<?xml version="1.0"?>
+<?xml version='1.0'?>
<mavlink>
- <include>common.xml</include>
- <messages>
- </messages>
+ <include>common.xml</include>
+ <!-- note that APM specific messages should use the command id
+ range from 150 to 250, to leave plenty of room for growth
+ of common.xml
+
+ If you prototype a message here, then you should consider if it
+ is general enough to move into common.xml later
+ -->
+ <messages>
+ <message id="150" name="SENSOR_OFFSETS">
+ <description>Offsets and calibrations values for hardware
+ sensors. This makes it easier to debug the calibration process.</description>
+ <field type="int16_t" name="mag_ofs_x">magnetometer X offset</field>
+ <field type="int16_t" name="mag_ofs_y">magnetometer Y offset</field>
+ <field type="int16_t" name="mag_ofs_z">magnetometer Z offset</field>
+ <field type="float" name="mag_declination">magnetic declination (radians)</field>
+ <field type="int32_t" name="raw_press">raw pressure from barometer</field>
+ <field type="int32_t" name="raw_temp">raw temperature from barometer</field>
+ <field type="float" name="gyro_cal_x">gyro X calibration</field>
+ <field type="float" name="gyro_cal_y">gyro Y calibration</field>
+ <field type="float" name="gyro_cal_z">gyro Z calibration</field>
+ <field type="float" name="accel_cal_x">accel X calibration</field>
+ <field type="float" name="accel_cal_y">accel Y calibration</field>
+ <field type="float" name="accel_cal_z">accel Z calibration</field>
+ </message>
+ </messages>
</mavlink>

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