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2410b31662
I've added a queue depth of 4 for sensor_accel and sensor_gyro. This is initially added because it's not always possible for the `vehicle_acceleration` to keep up with every publication of the primary accelerator as it runs in the same thread as ekf2, various controllers, etc. Later this mechanism will be used in a few areas - rate limit `vehicle_angular_velocity` and `vehicle_acceleration` without missing any raw data - move IMU integration to `vehicle_imu` and out of the actual driver threads, eliminating the need for sensor_accel_integrated and sensor_gyro_integrated - integrate raw gyro synchronized with optical flow measurements
13 lines
505 B
Plaintext
13 lines
505 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 x # acceleration in the NED X board axis in m/s^2
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float32 y # acceleration in the NED Y board axis in m/s^2
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float32 z # acceleration in the NED Z board axis in m/s^2
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float32 temperature # temperature in degrees celsius
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uint8 ORB_QUEUE_LENGTH = 4
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