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28 lines
1.0 KiB
Markdown
28 lines
1.0 KiB
Markdown
# SensorsStatusImu (повідомлення UORB)
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Метрики перевірки датчика. Це значення буде нульовим для датчика, який є первинним або незаповненим.
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorsStatusImu.msg)
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```c
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#
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# Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
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#
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uint64 timestamp # time since system start (microseconds)
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uint32 accel_device_id_primary # current primary accel device id for reference
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uint32[4] accel_device_ids
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float32[4] accel_inconsistency_m_s_s # magnitude of acceleration difference between IMU instance and mean in m/s^2.
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bool[4] accel_healthy
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uint8[4] accel_priority
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uint32 gyro_device_id_primary # current primary gyro device id for reference
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uint32[4] gyro_device_ids
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float32[4] gyro_inconsistency_rad_s # magnitude of angular rate difference between IMU instance and mean in (rad/s).
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bool[4] gyro_healthy
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uint8[4] gyro_priority
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```
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