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cf37be8c44
- track clipping per IMU axis and pass through to ecl/EKF - update ecl/EKF to include delta velocity clipping changes (PX4/ecl#663)
18 lines
858 B
Plaintext
18 lines
858 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 CLIPPING_X = 1
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uint8 CLIPPING_Y = 2
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uint8 CLIPPING_Z = 4
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uint8 delta_velocity_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame
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