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consolidate IMU processing and initial sensor_imu_fifo support

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Daniel Agar
2023-03-06 11:46:07 -05:00
parent 21c7f8ad74
commit 8ac5f7cfc0
40 changed files with 2343 additions and 3352 deletions
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msg/CMakeLists.txt
+1
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@@ -167,6 +167,7 @@ set(msg_files
SensorGyroFft.msg
SensorGyroFifo.msg
SensorHygrometer.msg
SensorImuFifo.msg
SensorMag.msg
SensorOpticalFlow.msg
SensorPreflightMag.msg
msg/SensorImuFifo.msg
+26
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@@ -0,0 +1,26 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample
uint32 device_id # unique device ID for the sensor that does not change between power cycles
float32 dt # delta time between samples (microseconds)
uint8 samples # number of valid samples
float32 accel_scale
float32 gyro_scale
uint8 FIFO_SIZE = 24
int16[24] accel_x # gyro in the FRD board frame X-axis
int16[24] accel_y # gyro in the FRD board frame Y-axis
int16[24] accel_z # gyro in the FRD board frame Z-axis
int16[24] gyro_x # gyro in the FRD board frame X-axis
int16[24] gyro_y # gyro in the FRD board frame Y-axis
int16[24] gyro_z # gyro in the FRD board frame Z-axis
float32 temperature # temperature in degrees Celsius
uint32 error_count
uint8 ORB_QUEUE_LENGTH = 4