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33 lines
1.5 KiB
Markdown
33 lines
1.5 KiB
Markdown
# VehicleImu (повідомлення UORB)
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Вимірювання IMU у вигляді одиниць SI.
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleImu.msg)
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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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