Keys starting with "app_" refer to the Applanix POS LV 220E. The X, Y, Z axes are aligned with Forward, Right, Down with respect to the car.
Keys starting with "fiber_" refer to the KVH 1775 fiber-optic gyro. The X, Y, Z axes are aligned with 45 degrees Right, 45 degrees Left, Up with respect to the car.
Keys starting with "velodyne_" refer to the HDL-32 Velodyne unit.
| HDF5 key | Description |
|---|---|
| UN_D_cam1_ptr | |
| UN_D_cam2_ptr | |
| UN_D_lidar_ptr | |
| UN_D_radar_msg | |
| UN_D_rawgps | |
| UN_T_cam1_ptr | |
| UN_T_cam2_ptr | |
| UN_T_lidar_ptr | |
| UN_T_radar_msg | |
| UN_T_rawgps | |
| app_accel | m/s^2, <Forward, Right, Down> |
| app_heading | deg |
| app_pos | <Lat (deg), Lon (deg), Alt (m)> |
| app_speed | m/s |
| app_status | |
| app_v_yaw | deg/s, yaw velocity |
| blinker | |
| brake | brake_computer + brake_user |
| brake_computer | Commanded brake [0-4095] |
| brake_user | User brake pedal depression [0-4095] |
| cam1_ptr | Camera frame index at this time |
| cam2_ptr | |
| car_accel | m/s^2, from derivative of wheel speed |
| fiber_accel | m/s^2 |
| fiber_compass | |
| fiber_compass_x | |
| fiber_compass_y | |
| fiber_compass_z | |
| fiber_gyro | deg/s |
| fiber_temperature | |
| gas | [0-1) |
| gear_choice | Selected gear. 0- park/neutral, 10- reverse, 11- gear currently changing |
| idx | |
| rpm | |
| rpm_post_torque | post torque-converter |
| selfdrive | |
| speed | m/s, from encoder after transmission, negative when gear is Revese |
| speed_abs | m/s, from encoder after transmission |
| speed_fl | Individual wheels speeds (m/s) |
| speed_fr | |
| speed_rl | |
| speed_rr | |
| standstill | Is the car stopped? |
| steering_angle | |
| steering_torque | deg/s, despite the name, this is the steering angle rate |
| times | seconds |
| velodyne_gps | |
| velodyne_heading | |
| velodyne_imu |