forked from Archive/PX4-Autopilot
19 lines
980 B
Plaintext
19 lines
980 B
Plaintext
#
|
|
# Sensor readings in SI-unit form.
|
|
#
|
|
# These fields are scaled and offset-compensated where possible and do not
|
|
# change with board revisions and sensor updates.
|
|
#
|
|
|
|
uint64 timestamp # time since system start (microseconds)
|
|
|
|
int32 RELATIVE_TIMESTAMP_INVALID = 2147483647 # (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid
|
|
|
|
# gyro timstamp is equal to the timestamp of the message
|
|
float32[3] gyro_rad # average angular rate measured in the XYZ body frame in rad/s over the last gyro sampling period
|
|
uint32 gyro_integral_dt # gyro measurement sampling period in us
|
|
|
|
int32 accelerometer_timestamp_relative # timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
|
|
float32[3] accelerometer_m_s2 # average value acceleration measured in the XYZ body frame in m/s/s over the last accelerometer sampling period
|
|
uint32 accelerometer_integral_dt # accelerometer measurement sampling period in us
|