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16 lines
805 B
Plaintext
16 lines
805 B
Plaintext
# 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 in the NED board axis in rad/s over the integration time frame (dt)
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float32[3] delta_velocity # delta velocity in the NED board axis in m/s over the integration time frame (dt)
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uint16 dt # integration period in us
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uint8 integrated_samples # number of samples integrated
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uint8 clip_count # total clip count per integration period on any axis
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