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d2f1349d1a
- this saves a relatively expensive higih rate cross product and gives better visibility into what's actually happening internally
28 lines
1.2 KiB
Plaintext
28 lines
1.2 KiB
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint32 accel_device_id # unique device ID for the sensor that does not change between power cycles
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uint32 gyro_device_id # unique device ID for the sensor that does not change between power cycles
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uint32[3] accel_clipping # total clipping per axis
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uint32 accel_error_count
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uint32 gyro_error_count
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float32 accel_rate_hz
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float32 gyro_rate_hz
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float32 accel_raw_rate_hz # full raw sensor sample rate (Hz)
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float32 gyro_raw_rate_hz # full raw sensor sample rate (Hz)
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float32 accel_vibration_metric # high frequency vibration level in the accelerometer data (m/s/s)
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float32 gyro_vibration_metric # high frequency vibration level in the gyro data (rad/s)
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float32 delta_angle_coning_metric # average IMU delta angle coning correction (rad^2)
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float32[3] mean_accel # average accelerometer readings since last publication
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float32[3] mean_gyro # average gyroscope readings since last publication
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float32[3] var_accel # accelerometer variance since last publication
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float32[3] var_gyro # gyroscope variance since last publication
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float32 temperature_accel
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float32 temperature_gyro
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