dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity
px4-firmware/msg/vehicle_imu.msg

18 lines
916 B
Plaintext
Raw Normal View History

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
float32[3] delta_angle # delta angle in the NED board axis in rad/s over the integration time frame (dt)
float32[3] delta_velocity # delta velocity in the NED board axis in m/s over the integration time frame (dt)
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
uint16 delta_angle_dt # integration period in us
uint16 delta_velocity_dt # integration period in us
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
uint8 delta_velocity_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame