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IMU handle accel/gyro FIFO as separate type

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This commit is contained in:
Daniel Agar
2021-02-16 09:18:10 -05:00
parent cf2ffb1086
commit 050fa47aca
63 changed files with 1840 additions and 962 deletions
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msg/sensor_accel.msg
+2 -2
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@@ -3,6 +3,8 @@ uint64 timestamp_sample
uint32 device_id # unique device ID for the sensor that does not change between power cycles
float32 range
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
@@ -11,6 +13,4 @@ float32 temperature # temperature in degrees Celsius
uint32 error_count
uint8[3] clip_counter # clip count per axis in the sample period
uint8 ORB_QUEUE_LENGTH = 8
msg/sensor_accel_fifo.msg
+8 -4
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@@ -8,8 +8,12 @@ float32 scale
uint8 samples # number of valid samples
int16[32] x # acceleration in the FRD board frame X-axis in m/s^2
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
int16[20] x # acceleration in the sensor frame X-axis in m/s^2
int16[20] y # acceleration in the sensor frame Y-axis in m/s^2
int16[20] z # acceleration in the sensor frame Z-axis in m/s^2
uint8 rotation # Direction the sensor faces (see Rotation enum)
float32 temperature # temperature in degrees celsius
uint32 error_count
uint8 ORB_QUEUE_LENGTH = 8
msg/sensor_gyro_fifo.msg
+8 -4
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@@ -8,8 +8,12 @@ float32 scale
uint8 samples # number of valid samples
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
int16[20] x # angular velocity in the sensor frame X-axis in rad/s
int16[20] y # angular velocity in the sensor frame Y-axis in rad/s
int16[20] z # angular velocity in the sensor frame Z-axis in rad/s
uint8 rotation # Direction the sensor faces (see Rotation enum)
float32 temperature # temperature in degrees celsius
uint32 error_count
uint8 ORB_QUEUE_LENGTH = 8