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sensors: add accel/gyro current priority to sensors_status_imu

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- later the sensor priorities (user configurable) can be factored into the estimator selection criteria
This commit is contained in:
Daniel Agar
2021-07-30 21:20:01 -04:00
parent b33fdf704b
commit 713a1d08a3
4 changed files with 29 additions and 1 deletions
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msg/sensors_status_imu.msg
+2 -1
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@@ -8,10 +8,11 @@ uint32 accel_device_id_primary # current primary accel device id for refer
uint32[4] accel_device_ids
float32[4] accel_inconsistency_m_s_s # magnitude of acceleration difference between IMU instance and mean in m/s^2.
bool[4] accel_healthy
uint8[4] accel_priority
uint32 gyro_device_id_primary # current primary gyro device id for reference
uint32[4] gyro_device_ids
float32[4] gyro_inconsistency_rad_s # magnitude of angular rate difference between IMU instance and mean in (rad/s).
bool[4] gyro_healthy
uint8[4] gyro_priority