mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
22499effb9
- checked register mechanism and simple watchdog
- driver checks for errors gradually and can reconfigure itself
- respect IMU_GYRO_RATEMAX at the driver level
- fixed sensor INT16_MIN and INT16_MAX handling (y & z axis are flipped before publishing)
- increased sensor_gyro_fifo max size (enables running the driver much slower, but still transferring all raw data)
- PX4Accelerometer/PX4Gyroscope remove unnecessary memsets
14 lines
567 B
Plaintext
14 lines
567 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample
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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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float32 dt # delta time between samples (microseconds)
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float32 scale
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uint8 samples # number of valid samples
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int16[32] x # angular velocity in the NED X board axis in rad/s
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int16[32] y # angular velocity in the NED Y board axis in rad/s
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int16[32] z # angular velocity in the NED Z board axis in rad/s
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