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72 lines
4.3 KiB
Markdown
72 lines
4.3 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# VehicleImuStatus (UORB message)
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**TOPICS:** vehicle_imu_status
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| ------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| accel_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
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| gyro_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
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| accel_clipping | `uint32[3]` | | | total clipping per axis |
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| gyro_clipping | `uint32[3]` | | | total clipping per axis |
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| accel_error_count | `uint32` | | |
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| gyro_error_count | `uint32` | | |
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| accel_rate_hz | `float32` | | |
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| gyro_rate_hz | `float32` | | |
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| accel_raw_rate_hz | `float32` | | | full raw sensor sample rate (Hz) |
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| gyro_raw_rate_hz | `float32` | | | full raw sensor sample rate (Hz) |
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| accel_vibration_metric | `float32` | | | high frequency vibration level in the accelerometer data (m/s/s) |
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| gyro_vibration_metric | `float32` | | | high frequency vibration level in the gyro data (rad/s) |
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| delta_angle_coning_metric | `float32` | | | average IMU delta angle coning correction (rad^2) |
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| mean_accel | `float32[3]` | | | average accelerometer readings since last publication |
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| mean_gyro | `float32[3]` | | | average gyroscope readings since last publication |
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| var_accel | `float32[3]` | | | accelerometer variance since last publication |
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| var_gyro | `float32[3]` | | | gyroscope variance since last publication |
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| temperature_accel | `float32` | | |
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| temperature_gyro | `float32` | | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleImuStatus.msg)
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::: details Click here to see original file
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```c
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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[3] gyro_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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```
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:::
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