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25 lines
1.6 KiB
25 lines
1.6 KiB
# Sensor readings in SI-unit form. |
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# These fields are scaled and offset-compensated where possible and do not |
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# change with board revisions and sensor updates. |
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uint64 timestamp # time since system start (microseconds) |
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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 |
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# gyro timstamp is equal to the timestamp of the message |
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float32[3] gyro_rad # average angular rate measured in the FRD body frame XYZ-axis in rad/s over the last gyro sampling period |
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uint32 gyro_integral_dt # gyro measurement sampling period in microseconds |
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int32 accelerometer_timestamp_relative # timestamp + accelerometer_timestamp_relative = Accelerometer timestamp |
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float32[3] accelerometer_m_s2 # average value acceleration measured in the FRD body frame XYZ-axis in m/s^2 over the last accelerometer sampling period |
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uint32 accelerometer_integral_dt # accelerometer measurement sampling period in microseconds |
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uint8 CLIPPING_X = 1 |
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uint8 CLIPPING_Y = 2 |
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uint8 CLIPPING_Z = 4 |
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uint8 accelerometer_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame |
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uint8 gyro_clipping # bitfield indicating if there was any gyro clipping (per axis) during the integration time frame |
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uint8 accel_calibration_count # Calibration changed counter. Monotonically increases whenever accelermeter calibration changes. |
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uint8 gyro_calibration_count # Calibration changed counter. Monotonically increases whenever rate gyro calibration changes.
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