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sensors: compute and publish vehicle_angular_acceleration

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- introduces parameter IMU_DGYRO_CUTOFF to configure the angular acceleration low pass filter
 - the angular acceleration is computed by differentiating angular velocity after the notch filter (IMU_GYRO_NF_FREQ & IMU_GYRO_NF_BW) is applied

Co-authored-by: Julien Lecoeur <jlecoeur@users.noreply.github.com>
This commit is contained in:
Daniel Agar
2020-01-27 16:44:01 -05:00
committed by GitHub
co-authored by Julien Lecoeur
parent 497ab07daf
commit 1237402fa4
7 changed files with 98 additions and 34 deletions
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msg/vehicle_angular_velocity.msg
+2 -3
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@@ -1,7 +1,6 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds)
float32[3] xyz # Bias corrected angular velocity about X, Y, Z body axis in rad/s