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px4-firmware/msg/vehicle_imu_status.msg

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sensors/vehicle_imu: vehicle_imu_status add mean accel/gyro - this makes it slightly easier to gather long term data for an Allan Variance - fixes https://github.com/PX4/Firmware/issues/6250
2020-10-05 23:18:03 -03:00
uint64 timestamp # time since system start (microseconds)
move IMU integration out of drivers to sensors hub to handle accel/gyro sync - IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu - sensors: voted_sensors_update now consumes vehicle_imu - delete sensor_accel_integrated, sensor_gyro_integrated - merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status - sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance)
2020-05-30 12:07:54 -03:00
sensors/vehicle_imu: vehicle_imu_status add mean accel/gyro - this makes it slightly easier to gather long term data for an Allan Variance - fixes https://github.com/PX4/Firmware/issues/6250
2020-10-05 23:18:03 -03:00
uint32 accel_device_id # unique device ID for the sensor that does not change between power cycles
uint32 gyro_device_id # unique device ID for the sensor that does not change between power cycles
move IMU integration out of drivers to sensors hub to handle accel/gyro sync - IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu - sensors: voted_sensors_update now consumes vehicle_imu - delete sensor_accel_integrated, sensor_gyro_integrated - merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status - sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance)
2020-05-30 12:07:54 -03:00
sensors/vehicle_imu: vehicle_imu_status add mean accel/gyro - this makes it slightly easier to gather long term data for an Allan Variance - fixes https://github.com/PX4/Firmware/issues/6250
2020-10-05 23:18:03 -03:00
uint32[3] accel_clipping # total clipping per axis
move IMU integration out of drivers to sensors hub to handle accel/gyro sync - IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu - sensors: voted_sensors_update now consumes vehicle_imu - delete sensor_accel_integrated, sensor_gyro_integrated - merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status - sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance)
2020-05-30 12:07:54 -03:00
uint32 accel_error_count
uint32 gyro_error_count
sensors: angular_velocity always get gyro rate from vehicle_imu_status - sensor rate is used for control data low pass and notch filters
2020-12-14 11:27:57 -04:00
float32 accel_rate_hz
float32 gyro_rate_hz
move IMU integration out of drivers to sensors hub to handle accel/gyro sync - IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu - sensors: voted_sensors_update now consumes vehicle_imu - delete sensor_accel_integrated, sensor_gyro_integrated - merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status - sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance)
2020-05-30 12:07:54 -03:00
float32 accel_vibration_metric # high frequency vibration level in the IMU delta velocity data (m/s)
sensors/vehicle_imu: vehicle_imu_status add mean accel/gyro - this makes it slightly easier to gather long term data for an Allan Variance - fixes https://github.com/PX4/Firmware/issues/6250
2020-10-05 23:18:03 -03:00
float32 gyro_vibration_metric # high frequency vibration level in the IMU delta velocity data (m/s)
float32 gyro_coning_vibration # Level of coning vibration in the IMU delta angles (rad^2)
float32[3] mean_accel # average accelerometer readings since last publication
float32[3] mean_gyro # average gyroscope readings since last publication
float32 temperature_accel
float32 temperature_gyro