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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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e34bdb4be9
- IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu - sensors: voted_sensors_update now consumes vehicle_imu - delete sensor_accel_integrated, sensor_gyro_integrated - merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status - sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance)
17 lines
711 B
Plaintext
17 lines
711 B
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 # clipping per axis
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uint32 accel_error_count
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uint32 gyro_error_count
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uint16 accel_rate_hz
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uint16 gyro_rate_hz
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float32 accel_vibration_metric # high frequency vibration level in the IMU delta velocity data (m/s)
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float32 gyro_vibration_metric # high frequency vibration level in the IMU delta velocity data (m/s)
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float32 gyro_coning_vibration # Level of coning vibration in the IMU delta angles (rad^2)
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