SensorGyro (UORB message)

TOPICS: sensor_gyro

Fields

参数名	类型	Unit [Frame]	Range/Enum	描述
timestamp	uint64			time since system start (microseconds)
timestamp_sample	uint64
device_id	uint32			unique device ID for the sensor that does not change between power cycles
x	float32			angular velocity in the FRD board frame X-axis in rad/s
y	float32			angular velocity in the FRD board frame Y-axis in rad/s
z	float32			angular velocity in the FRD board frame Z-axis in rad/s
temperature	float32			temperature in degrees Celsius
error_count	uint32
clip_counter	uint8[3]			clip count per axis in the sample period
samples	uint8			number of raw samples that went into this message

Constants

参数名	类型	值	描述
ORB_QUEUE_LENGTH	uint8	8

Source Message

Source file (GitHub)

Details

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

uint32 device_id          # unique device ID for the sensor that does not change between power cycles

float32 x                 # angular velocity in the FRD board frame X-axis in rad/s
float32 y                 # angular velocity in the FRD board frame Y-axis in rad/s
float32 z                 # angular velocity in the FRD board frame Z-axis in rad/s

float32 temperature       # temperature in degrees Celsius

uint32 error_count

uint8[3] clip_counter     # clip count per axis in the sample period

uint8 samples             # number of raw samples that went into this message

uint8 ORB_QUEUE_LENGTH = 8