mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
70 lines
5.9 KiB
Markdown
70 lines
5.9 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# VehicleImu (UORB message)
|
|
|
|
IMU readings in SI-unit form.
|
|
|
|
**TOPICS:** vehicle_imu
|
|
|
|
## Fields
|
|
|
|
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
|
|
| ----------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
|
| timestamp | `uint64` | | | time since system start (microseconds) |
|
|
| timestamp_sample | `uint64` | | | |
|
|
| accel_device_id | `uint32` | | | Accelerometer unique device ID for the sensor that does not change between power cycles |
|
|
| gyro_device_id | `uint32` | | | Gyroscope unique device ID for the sensor that does not change between power cycles |
|
|
| delta_angle | `float32[3]` | | | delta angle about the FRD body frame XYZ-axis in rad over the integration time frame (delta_angle_dt) |
|
|
| delta_velocity | `float32[3]` | | | delta velocity in the FRD body frame XYZ-axis in m/s over the integration time frame (delta_velocity_dt) |
|
|
| delta_angle_dt | `uint32` | | | integration period in microseconds |
|
|
| delta_velocity_dt | `uint32` | | | integration period in microseconds |
|
|
| delta_angle_clipping | `uint8` | | | bitfield indicating if there was any gyro clipping (per axis) during the integration time frame |
|
|
| delta_velocity_clipping | `uint8` | | | bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame |
|
|
| accel_calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever accelermeter calibration changes. |
|
|
| gyro_calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever rate gyro calibration changes. |
|
|
|
|
## Constants
|
|
|
|
| 명칭 | 형식 | Value | 설명 |
|
|
| -------------------------------------------------------- | ------- | ----- | -- |
|
|
| <a id="#CLIPPING_X"></a> CLIPPING_X | `uint8` | 1 | |
|
|
| <a id="#CLIPPING_Y"></a> CLIPPING_Y | `uint8` | 2 | |
|
|
| <a id="#CLIPPING_Z"></a> CLIPPING_Z | `uint8` | 4 | |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleImu.msg)
|
|
|
|
:::details
|
|
Click here to see original file
|
|
|
|
```c
|
|
# IMU readings in SI-unit form.
|
|
|
|
uint64 timestamp # time since system start (microseconds)
|
|
uint64 timestamp_sample
|
|
|
|
uint32 accel_device_id # Accelerometer unique device ID for the sensor that does not change between power cycles
|
|
uint32 gyro_device_id # Gyroscope unique device ID for the sensor that does not change between power cycles
|
|
|
|
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)
|
|
|
|
uint32 delta_angle_dt # integration period in microseconds
|
|
uint32 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.
|
|
uint8 gyro_calibration_count # Calibration changed counter. Monotonically increases whenever rate gyro calibration changes.
|
|
```
|
|
|
|
:::
|