forked from PX4/PX4-Autopilot
-
Notifications
You must be signed in to change notification settings - Fork 4
/
vehicle_imu_status.msg
27 lines (19 loc) · 1.21 KB
/
vehicle_imu_status.msg
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
uint64 timestamp # time since system start (microseconds)
uint32 accel_device_id # unique device ID for the sensor that does not change between power cycles
uint32 gyro_device_id # unique device ID for the sensor that does not change between power cycles
uint32[3] accel_clipping # total clipping per axis
uint32 accel_error_count
uint32 gyro_error_count
float32 accel_rate_hz
float32 gyro_rate_hz
float32 accel_raw_rate_hz # full raw sensor sample rate (Hz)
float32 gyro_raw_rate_hz # full raw sensor sample rate (Hz)
float32 accel_vibration_metric # high frequency vibration level in the accelerometer data (m/s/s)
float32 gyro_vibration_metric # high frequency vibration level in the gyro data (rad/s)
float32 delta_angle_coning_metric # average IMU delta angle coning correction (rad^2)
float32[3] mean_accel # average accelerometer readings since last publication
float32[3] mean_gyro # average gyroscope readings since last publication
float32[3] var_accel # accelerometer variance since last publication
float32[3] var_gyro # gyroscope variance since last publication
float32 temperature_accel
float32 temperature_gyro