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PX4Accelerometer and PX4Gyroscope add vibration metrics and always publish status

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Daniel Agar
2019-12-27 20:54:50 -05:00
parent e189733bb9
commit 89e1f478ac
7 changed files with 122 additions and 4 deletions
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msg/sensor_accel_status.msg
+2
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@@ -13,3 +13,5 @@ uint16 measure_rate
uint16 sample_rate
float32 full_scale_range
float32 vibration_metric # high frequency vibration level in the IMU delta velocity data (m/s)
msg/sensor_gyro_status.msg
+4
View File
@@ -13,3 +13,7 @@ uint16 measure_rate
uint16 sample_rate
float32 full_scale_range
float32 vibration_metric # high frequency vibration level in the IMU delta angle data (rad)
float32 coning_vibration # Level of coning vibration in the IMU delta angles (rad^2)