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px4-firmware/msg/SensorGyroFifo.msg

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sensor accel/gyro message cleanup - split out integrated data into new standalone messages (sensor_accel_integrated and sensor_gyro_integrated) - publish sensor_gyro at full rate and remove sensor_gyro_control - limit sensor status publications to 10 Hz - remove unused accel/gyro raw ADC fields - add device IDs to sensor_bias and sensor_correction - vehicle_angular_velocity/vehicle_acceleration: check device ids before using bias and corrections
2020-01-18 02:15:00 -04:00
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample
ST ISM330DLC IMU driver
2019-10-14 21:09:39 -03:00
sensor accel/gyro message cleanup - split out integrated data into new standalone messages (sensor_accel_integrated and sensor_gyro_integrated) - publish sensor_gyro at full rate and remove sensor_gyro_control - limit sensor status publications to 10 Hz - remove unused accel/gyro raw ADC fields - add device IDs to sensor_bias and sensor_correction - vehicle_angular_velocity/vehicle_acceleration: check device ids before using bias and corrections
2020-01-18 02:15:00 -04:00
uint32 device_id # unique device ID for the sensor that does not change between power cycles
ST ISM330DLC IMU driver
2019-10-14 21:09:39 -03:00
sensor accel/gyro message cleanup - split out integrated data into new standalone messages (sensor_accel_integrated and sensor_gyro_integrated) - publish sensor_gyro at full rate and remove sensor_gyro_control - limit sensor status publications to 10 Hz - remove unused accel/gyro raw ADC fields - add device IDs to sensor_bias and sensor_correction - vehicle_angular_velocity/vehicle_acceleration: check device ids before using bias and corrections
2020-01-18 02:15:00 -04:00
float32 dt # delta time between samples (microseconds)
ST ISM330DLC IMU driver
2019-10-14 21:09:39 -03:00
float32 scale
sensor accel/gyro message cleanup - split out integrated data into new standalone messages (sensor_accel_integrated and sensor_gyro_integrated) - publish sensor_gyro at full rate and remove sensor_gyro_control - limit sensor status publications to 10 Hz - remove unused accel/gyro raw ADC fields - add device IDs to sensor_bias and sensor_correction - vehicle_angular_velocity/vehicle_acceleration: check device ids before using bias and corrections
2020-01-18 02:15:00 -04:00
uint8 samples # number of valid samples
ST ISM330DLC IMU driver
2019-10-14 21:09:39 -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
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
accel and gyro calibration refactor and cleanup - remove all remaining IOCTLs for accel and gyro and handle all calibration entirely in sensors module with parameters - sensor_accel and sensor_gyro are now always raw sensor data - calibration procedures no longer need to first clear existing values before starting - temperature calibration (TC) remove all scale (SCL) parameters - gyro and baro scale are completely unused - regular accel calibration scale can be used (CAL_ACC*_xSCALE) instead of TC scale
2020-06-17 23:50:09 -03:00
gyro_fft: reduce run frequency (still consuming all queued data)
2021-03-14 22:36:39 -03:00
uint8 ORB_QUEUE_LENGTH = 4