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713a1d08a3
- later the sensor priorities (user configurable) can be factored into the estimator selection criteria
19 lines
696 B
Plaintext
19 lines
696 B
Plaintext
#
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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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