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px4-firmware/msg/VehicleImu.msg

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sensors/vehicle_imu: incremental step towards multi-EKF
2020-01-21 17:47:38 -04:00
# 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
Clarification of coordinate systems for sensors_* and vehicle_* messages (#16339) Changed all 'NED' references to 'FRD'. Also cleaned up mixing of m/s/s and m/s^2 to use the latter. Corrected m/s/s to Pascals. Plus minor typos. Also made some minor cosmetic clean ups. Co-authored-by: Robin <robin@Robins-MacBook-Pro-Work.local> Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2020-12-15 04:18:05 -04:00
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)
Add gyro clipping to mirror accel clipping monitoring instances.
2022-04-22 13:43:25 -03:00
Clarification of coordinate systems for sensors_* and vehicle_* messages (#16339) Changed all 'NED' references to 'FRD'. Also cleaned up mixing of m/s/s and m/s^2 to use the latter. Corrected m/s/s to Pascals. Plus minor typos. Also made some minor cosmetic clean ups. Co-authored-by: Robin <robin@Robins-MacBook-Pro-Work.local> Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2020-12-15 04:18:05 -04:00
uint16 delta_angle_dt # integration period in microseconds
uint16 delta_velocity_dt # integration period in microseconds
sensors/vehicle_imu: incremental step towards multi-EKF
2020-01-21 17:47:38 -04:00
ekf2 handle accelerometer clipping - track clipping per IMU axis and pass through to ecl/EKF - update ecl/EKF to include delta velocity clipping changes (PX4/ecl#663)
2020-04-07 21:11:08 -03:00
uint8 CLIPPING_X = 1
uint8 CLIPPING_Y = 2
uint8 CLIPPING_Z = 4
Add gyro clipping to mirror accel clipping monitoring instances.
2022-04-22 13:43:25 -03:00
uint8 delta_angle_clipping # bitfield indicating if there was any gyro clipping (per axis) during the integration time frame
ekf2 handle accelerometer clipping - track clipping per IMU axis and pass through to ecl/EKF - update ecl/EKF to include delta velocity clipping changes (PX4/ecl#663)
2020-04-07 21:11:08 -03:00
uint8 delta_velocity_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame
vehicle_imu/vehicle_magnetometer add calibration indicator to message - vehicle_imu/vehicle_magnetometer add monotonically increasing `calibration_count` field so that downstream subscribers are aware of calibration changes
2020-09-15 14:12:57 -03:00
save significant IMU bias changes learned by the EKF * ekf2: make publishing of learned accel biases more robust * ekf2: reset accel bias if calibration updated * msg: add separate accel and gyro calibration counters * ekf2: use separate accel and gyro calibration counters * ekf2: rework logic to reset biases when calibration counters increment * sensors: add saving of learned accel biases * ekf2: generalized saving accel/gyro/mag in flight sensor calibration * boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
2021-11-07 16:34:27 -04:00
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.