sensors/vehicle_imu: incremental step towards multi-EKF

msg/CMakeLists.txt

@@ -144,6 +144,7 @@ set(msg_files
 	vehicle_control_mode.msg
 	vehicle_global_position.msg
 	vehicle_gps_position.msg
+	vehicle_imu.msg
 	vehicle_land_detected.msg
 	vehicle_local_position.msg
 	vehicle_local_position_setpoint.msg

msg/tools/uorb_rtps_message_ids.yaml

@@ -275,6 +275,8 @@ rtps:
     id: 122
   - msg: sensor_gyro_integrated
     id: 123
+  - msg: vehicle_imu
+    id: 124
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 150

msg/vehicle_imu.msg

@@ -0,0 +1,15 @@
+# IMU readings in SI-unit form.
+
+uint64 timestamp          # time since system start (microseconds)
+uint64 timestamp_sample
+
+uint32 accel_device_id          # Accelerometer unique device ID for the sensor that does not change between power cycles
+uint32 gyro_device_id           # Gyroscope unique device ID for the sensor that does not change between power cycles
+
+float32[3] delta_angle          # delta angle in the NED board axis in rad/s over the integration time frame (dt)
+float32[3] delta_velocity       # delta velocity in the NED board axis in m/s over the integration time frame (dt)
+
+uint16 dt                       # integration period in us
+
+uint8 integrated_samples        # number of samples integrated
+uint8 clip_count                # total clip count per integration period on any axis