SensorGyroFifo (UORB message)

TOPICS: sensor_gyrofifo

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
dt	float32			delta time between samples (microseconds)
scale	float32
samples	uint8			number of valid samples
x	int16[32]			angular velocity in the FRD board frame X-axis in rad/s
y	int16[32]			angular velocity in the FRD board frame Y-axis in rad/s
z	int16[32]			angular velocity in the FRD board frame Z-axis in rad/s

Constants

参数名	类型	值	描述
ORB_QUEUE_LENGTH	uint8	4

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 dt                # delta time between samples (microseconds)
float32 scale

uint8 samples             # number of valid samples

int16[32] x               # angular velocity in the FRD board frame X-axis in rad/s
int16[32] y               # angular velocity in the FRD board frame Y-axis in rad/s
int16[32] z               # angular velocity in the FRD board frame Z-axis in rad/s

uint8 ORB_QUEUE_LENGTH = 4