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
Details
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c
# 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.