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aa244a098c
Changed all 'NED' references to 'FRD'. Also cleaned up mixing of m/s/s and m/s^2 to use the latter. Corrected m/s/s to Pascals. Plus minor typos. Also made some minor cosmetic clean ups. Co-authored-by: Robin <robin@Robins-MacBook-Pro-Work.local> Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
21 lines
1.2 KiB
Plaintext
21 lines
1.2 KiB
Plaintext
# Sensor readings in SI-unit form.
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# These fields are scaled and offset-compensated where possible and do not
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# change with board revisions and sensor updates.
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uint64 timestamp # time since system start (microseconds)
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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
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# gyro timstamp is equal to the timestamp of the message
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float32[3] gyro_rad # average angular rate measured in the FRD body frame XYZ-axis in rad/s over the last gyro sampling period
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uint32 gyro_integral_dt # gyro measurement sampling period in microseconds
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int32 accelerometer_timestamp_relative # timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
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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
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uint32 accelerometer_integral_dt # accelerometer measurement sampling 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 accelerometer_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the sampling period
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