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c6e708d Aug 8, 2016
@rbiasini @radarhere @espes
60 lines (55 sloc) 5.21 KB

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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