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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
e57aaaaa5e
- rotates accel & gyro FIFO data before publication both to simplify downstream usage (including log review) and fix other issues
- to best handle int16_t data rotations are now either performed with swaps if possible, otherwise promoted to float, rotated using the full rotation matrix, then rounded back to int16_t
- fix sensors/vehicle_angular_velocity filter reset both with proper rotation and new calibration uncorrect helper
- in FIFO case filtering is done before calibration is applied, but we need to handle a possible reset from a completely different sensor (vehicle body angular velocity -> sensor frame uncorrected data)
16 lines
613 B
Plaintext
16 lines
613 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 dt # delta time between samples (microseconds)
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float32 scale
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uint8 samples # number of valid samples
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int16[32] x # angular velocity in the FRD board frame X-axis in rad/s
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int16[32] y # angular velocity in the FRD board frame Y-axis in rad/s
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int16[32] z # angular velocity in the FRD board frame Z-axis in rad/s
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uint8 ORB_QUEUE_LENGTH = 4
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