fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-12 01:27:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

sensor accel/gyro message cleanup

Browse Source 
- split out integrated data into new standalone messages (sensor_accel_integrated and sensor_gyro_integrated)
 - publish sensor_gyro at full rate and remove sensor_gyro_control
 - limit sensor status publications to 10 Hz
 - remove unused accel/gyro raw ADC fields
 - add device IDs to sensor_bias and sensor_correction
    - vehicle_angular_velocity/vehicle_acceleration: check device ids before using bias and corrections
This commit is contained in:
Daniel Agar
2020-01-18 01:15:00 -05:00
committed by GitHub
parent 1d932f6ec9
commit bb465ca5b7
34 changed files with 696 additions and 756 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/sensor_accel_fifo.msg
+8 -8
View File
@@ -1,13 +1,13 @@
uint64 timestamp # time since system start (microseconds)
uint32 device_id # unique device ID for the sensor that does not change between power cycles
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample
uint64 timestamp_sample # time since system start (microseconds)
uint32 device_id # unique device ID for the sensor that does not change between power cycles
float32 dt # delta time between samples (microseconds)
float32 dt # delta time between samples (microseconds)
float32 scale
uint8 samples # number of valid samples
uint8 samples # number of valid samples
int16[16] x # acceleration in the NED X board axis in m/s/s
int16[16] y # acceleration in the NED Y board axis in m/s/s
int16[16] z # acceleration in the NED Z board axis in m/s/s
int16[16] x # acceleration in the NED X board axis in m/s/s
int16[16] y # acceleration in the NED Y board axis in m/s/s
int16[16] z # acceleration in the NED Z board axis in m/s/s