mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
c41f053c7b
- vehicle_imu/vehicle_magnetometer add monotonically increasing `calibration_count` field so that downstream subscribers are aware of calibration changes
20 lines
1.0 KiB
Plaintext
20 lines
1.0 KiB
Plaintext
# 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 in the NED board axis in rad/s over the integration time frame (dt)
|
|
float32[3] delta_velocity # delta velocity in the NED board axis in m/s over the integration time frame (dt)
|
|
uint16 delta_angle_dt # integration period in us
|
|
uint16 delta_velocity_dt # integration period in us
|
|
|
|
uint8 CLIPPING_X = 1
|
|
uint8 CLIPPING_Y = 2
|
|
uint8 CLIPPING_Z = 4
|
|
uint8 delta_velocity_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame
|
|
|
|
uint8 calibration_count # Calibration changed counter. Monotonically increases whenever calibration changes.
|