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17 lines
652 B
17 lines
652 B
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# Sensor check metrics. This will be zero for a sensor that's primary or unpopulated. |
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uint64 timestamp # time since system start (microseconds) |
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uint32 accel_device_id_primary # current primary accel device id for reference |
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uint32[4] accel_device_ids |
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float32[4] accel_inconsistency_m_s_s # magnitude of acceleration difference between IMU instance and mean in (m/s/s). |
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bool[4] accel_healthy |
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uint32 gyro_device_id_primary # current primary gyro device id for reference |
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uint32[4] gyro_device_ids |
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float32[4] gyro_inconsistency_rad_s # magnitude of angular rate difference between IMU instance and mean in (rad/s). |
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bool[4] gyro_healthy
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