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e34bdb4be9
- IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu - sensors: voted_sensors_update now consumes vehicle_imu - delete sensor_accel_integrated, sensor_gyro_integrated - merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status - sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance)
18 lines
916 B
Plaintext
18 lines
916 B
Plaintext
# IMU readings in SI-unit form.
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample
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uint32 accel_device_id # Accelerometer unique device ID for the sensor that does not change between power cycles
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uint32 gyro_device_id # Gyroscope unique device ID for the sensor that does not change between power cycles
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float32[3] delta_angle # delta angle in the NED board axis in rad/s over the integration time frame (dt)
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float32[3] delta_velocity # delta velocity in the NED board axis in m/s over the integration time frame (dt)
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uint16 delta_angle_dt # integration period in us
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uint16 delta_velocity_dt # integration period in us
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uint8 CLIPPING_X = 1
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uint8 CLIPPING_Y = 2
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uint8 CLIPPING_Z = 4
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uint8 delta_velocity_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame
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