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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
24f0c2d72a
- gyro filtering (low-pass and notch) only performed on primary gyro in `sensors/vehicle_angular_velocity` instead of every gyro in `PX4Gyroscope` - sample rate is calculated from actual updates (the fixed value was slightly wrong in many cases, and very wrong in a few) - In the FIFO case the array is now averaged and published in `sensor_gyro` for filtering downstream. I'll update this in the future to use the full FIFO array (if available), but right now it should be fine.
20 lines
502 B
Plaintext
20 lines
502 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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uint64 error_count
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float32 temperature
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uint8 rotation
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uint32[3] clipping # clipping per axis
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uint16 measure_rate
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float32 full_scale_range
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float32 vibration_metric # high frequency vibration level in the IMU delta angle data (rad)
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float32 coning_vibration # Level of coning vibration in the IMU delta angles (rad^2)
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