VehicleImu (повідомлення UORB)

Вимірювання IMU у вигляді одиниць SI.

TOPICS: vehicle_imu

Fields

Назва	Тип	Unit [Frame]	Range/Enum	Опис
timestamp	uint64			time since system start (microseconds)
timestamp_sample	uint64
accel_device_id	uint32			Accelerometer unique device ID for the sensor that does not change between power cycles
gyro_device_id	uint32			Gyroscope unique device ID for the sensor that does not change between power cycles
delta_angle	float32[3]			delta angle about the FRD body frame XYZ-axis in rad over the integration time frame (delta_angle_dt)
delta_velocity	float32[3]			delta velocity in the FRD body frame XYZ-axis in m/s over the integration time frame (delta_velocity_dt)
delta_angle_dt	uint32			integration period in microseconds
delta_velocity_dt	uint32			integration period in microseconds
delta_angle_clipping	uint8			bitfield indicating if there was any gyro clipping (per axis) during the integration time frame
delta_velocity_clipping	uint8			bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame
accel_calibration_count	uint8			Calibration changed counter. Monotonically increases whenever accelermeter calibration changes.
gyro_calibration_count	uint8			Calibration changed counter. Monotonically increases whenever rate gyro calibration changes.

Constants

Назва	Тип	Значення	Опис
CLIPPING_X	uint8	1
CLIPPING_Y	uint8	2
CLIPPING_Z	uint8	4

Source Message

Source file (GitHub)

Details

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# IMU readings in SI-unit form.

uint64 timestamp          # time since system start (microseconds)
uint64 timestamp_sample

uint32 accel_device_id          # Accelerometer unique device ID for the sensor that does not change between power cycles
uint32 gyro_device_id           # Gyroscope unique device ID for the sensor that does not change between power cycles

float32[3] delta_angle          # delta angle about the FRD body frame XYZ-axis in rad over the integration time frame (delta_angle_dt)
float32[3] delta_velocity       # delta velocity in the FRD body frame XYZ-axis in m/s over the integration time frame (delta_velocity_dt)

uint32 delta_angle_dt           # integration period in microseconds
uint32 delta_velocity_dt        # integration period in microseconds

uint8 CLIPPING_X = 1
uint8 CLIPPING_Y = 2
uint8 CLIPPING_Z = 4

uint8 delta_angle_clipping     # bitfield indicating if there was any gyro clipping (per axis) during the integration time frame
uint8 delta_velocity_clipping   # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame

uint8 accel_calibration_count  	# Calibration changed counter. Monotonically increases whenever accelermeter calibration changes.
uint8 gyro_calibration_count   	# Calibration changed counter. Monotonically increases whenever rate gyro calibration changes.