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f01c4e769f
- this makes it slightly easier to gather long term data for an Allan Variance - fixes https://github.com/PX4/Firmware/issues/6250
23 lines
963 B
Plaintext
23 lines
963 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 # total 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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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 temperature_accel
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float32 temperature_gyro
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