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Add gyro clipping to mirror accel clipping monitoring instances.

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This commit is contained in:
mcsauder
2022-05-18 21:16:05 -04:00
committed by Daniel Agar
parent ea10eacb99
commit e8da98fd14
10 changed files with 126 additions and 30 deletions
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msg/sensor_combined.msg
+12 -10
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@@ -2,22 +2,24 @@
# These fields are scaled and offset-compensated where possible and do not
# change with board revisions and sensor updates.
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # time since system start (microseconds)
int32 RELATIVE_TIMESTAMP_INVALID = 2147483647 # (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid
int32 RELATIVE_TIMESTAMP_INVALID = 2147483647 # (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid
# gyro timstamp is equal to the timestamp of the message
float32[3] gyro_rad # average angular rate measured in the FRD body frame XYZ-axis in rad/s over the last gyro sampling period
uint32 gyro_integral_dt # gyro measurement sampling period in microseconds
float32[3] gyro_rad # average angular rate measured in the FRD body frame XYZ-axis in rad/s over the last gyro sampling period
uint32 gyro_integral_dt # gyro measurement sampling period in microseconds
int32 accelerometer_timestamp_relative # timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
float32[3] accelerometer_m_s2 # average value acceleration measured in the FRD body frame XYZ-axis in m/s^2 over the last accelerometer sampling period
uint32 accelerometer_integral_dt # accelerometer measurement sampling period in microseconds
int32 accelerometer_timestamp_relative # timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
float32[3] accelerometer_m_s2 # average value acceleration measured in the FRD body frame XYZ-axis in m/s^2 over the last accelerometer sampling period
uint32 accelerometer_integral_dt # accelerometer measurement sampling period in microseconds
uint8 CLIPPING_X = 1
uint8 CLIPPING_Y = 2
uint8 CLIPPING_Z = 4
uint8 accelerometer_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the sampling period
uint8 accel_calibration_count # Calibration changed counter. Monotonically increases whenever accelermeter calibration changes.
uint8 gyro_calibration_count # Calibration changed counter. Monotonically increases whenever rate gyro calibration changes.
uint8 accelerometer_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame
uint8 gyro_clipping # bitfield indicating if there was any gyro clipping (per axis) during the integration time frame
uint8 accel_calibration_count # Calibration changed counter. Monotonically increases whenever accelermeter calibration changes.
uint8 gyro_calibration_count # Calibration changed counter. Monotonically increases whenever rate gyro calibration changes.
msg/sensor_gyro.msg
+2
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@@ -11,6 +11,8 @@ float32 temperature # temperature in degrees Celsius
uint32 error_count
uint8[3] clip_counter # clip count per axis in the sample period
uint8 samples # number of raw samples that went into this message
uint8 ORB_QUEUE_LENGTH = 8
msg/vehicle_attitude.msg
+5 -5
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@@ -1,12 +1,12 @@
# This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
float32[4] q # Quaternion rotation from the FRD body frame to the NED earth frame
float32[4] delta_q_reset # Amount by which quaternion has changed during last reset
uint8 quat_reset_counter # Quaternion reset counter
float32[4] q # Quaternion rotation from the FRD body frame to the NED earth frame
float32[4] delta_q_reset # Amount by which quaternion has changed during last reset
uint8 quat_reset_counter # Quaternion reset counter
# TOPICS vehicle_attitude vehicle_attitude_groundtruth vehicle_vision_attitude
# TOPICS estimator_attitude
msg/vehicle_imu.msg
+3
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@@ -8,12 +8,15 @@ uint32 gyro_device_id # Gyroscope unique device ID for the sensor that
float32[3] delta_angle # delta angle about the FRD body frame XYZ-axis in rad over the integration time frame (delta_angle_dt)
float32[3] delta_velocity # delta velocity in the FRD body frame XYZ-axis in m/s over the integration time frame (delta_velocity_dt)
uint16 delta_angle_dt # integration period in microseconds
uint16 delta_velocity_dt # integration period in microseconds
uint8 CLIPPING_X = 1
uint8 CLIPPING_Y = 2
uint8 CLIPPING_Z = 4
uint8 delta_angle_clipping # bitfield indicating if there was any gyro clipping (per axis) during the integration time frame
uint8 delta_velocity_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame
uint8 accel_calibration_count # Calibration changed counter. Monotonically increases whenever accelermeter calibration changes.
msg/vehicle_imu_status.msg
+1
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@@ -4,6 +4,7 @@ uint32 accel_device_id # unique device ID for the sensor that does not
uint32 gyro_device_id # unique device ID for the sensor that does not change between power cycles
uint32[3] accel_clipping # total clipping per axis
uint32[3] gyro_clipping # total clipping per axis
uint32 accel_error_count
uint32 gyro_error_count