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56 lines
4.7 KiB
Markdown
56 lines
4.7 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# SensorsStatusImu (повідомлення UORB)
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Метрики перевірки датчика. Це значення буде нульовим для датчика, який є первинним або незаповненим.
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**TOPICS:** sensors_statusimu
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## Fields
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| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
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| ------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| accel_device_id_primary | `uint32` | | | current primary accel device id for reference |
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| accel_device_ids | `uint32[4]` | | | |
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| accel_inconsistency_m_s_s | `float32[4]` | | | magnitude of acceleration difference between IMU instance and mean in m/s^2. |
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| accel_healthy | `bool[4]` | | | |
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| accel_priority | `uint8[4]` | | | |
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| gyro_device_id_primary | `uint32` | | | current primary gyro device id for reference |
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| gyro_device_ids | `uint32[4]` | | | |
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| gyro_inconsistency_rad_s | `float32[4]` | | | magnitude of angular rate difference between IMU instance and mean in (rad/s). |
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| gyro_healthy | `bool[4]` | | | |
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| gyro_priority | `uint8[4]` | | | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorsStatusImu.msg)
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:::details
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Click here to see original file
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```c
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#
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# Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
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#
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uint64 timestamp # time since system start (microseconds)
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uint32 accel_device_id_primary # current primary accel device id for reference
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uint32[4] accel_device_ids
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float32[4] accel_inconsistency_m_s_s # magnitude of acceleration difference between IMU instance and mean in m/s^2.
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bool[4] accel_healthy
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uint8[4] accel_priority
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uint32 gyro_device_id_primary # current primary gyro device id for reference
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uint32[4] gyro_device_ids
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float32[4] gyro_inconsistency_rad_s # magnitude of angular rate difference between IMU instance and mean in (rad/s).
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bool[4] gyro_healthy
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uint8[4] gyro_priority
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```
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:::
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