px4-firmware/msg/sensor_gyro.msg

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uint64 timestamp # time since system start (microseconds)
uint32 device_id # unique device ID for the sensor that does not change between power cycles
uint64 error_count
float32 x # angular velocity in the NED X board axis in rad/s
float32 y # angular velocity in the NED Y board axis in rad/s
float32 z # angular velocity in the NED Z board axis in rad/s
uint32 integral_dt # integration time (microseconds)
uint8 integral_samples # number of samples integrated
float32 x_integral # delta angle in the NED X board axis in rad/s over the integration time frame (integral_dt)
float32 y_integral # delta angle in the NED Y board axis in rad/s over the integration time frame (integral_dt)
float32 z_integral # delta angle in the NED Z board axis in rad/s over the integration time frame (integral_dt)
uint8 integral_clip_count # total clip count per integration period on any axis
float32 temperature # temperature in degrees celsius
float32 scaling # scaling from raw to rad/s
int16 x_raw
int16 y_raw
int16 z_raw