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