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| Milliseconds since reference epoch, fractional part | ||
| - acc_x: | ||
| type: s32 | ||
| units: 0.000000228406861 m/s^2 |
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For the documentation, it will be easier to specify the fraction instead of the decimal value
| desc: Acceleration in the IMU frame X axis | ||
| - acc_y: | ||
| type: s32 | ||
| units: 0.000000228406861 m/s^2 |
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For the documentation, it will be easier to specify the fraction instead of the decimal value
| desc: Acceleration in the IMU frame Y axis | ||
| - acc_z: | ||
| type: s32 | ||
| units: 0.000000228406861 m/s^2 |
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For the documentation, it will be easier to specify the fraction instead of the decimal value
| desc: Acceleration in the IMU frame Z axis | ||
| - gyr_x: | ||
| type: s32 | ||
| units: 0.000003725290298 deg/s |
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For the documentation, it will be easier to specify the fraction instead of the decimal value
| desc: Angular rate around IMU frame X axis | ||
| - gyr_y: | ||
| type: s32 | ||
| units: 0.000003725290298 deg/s |
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For the documentation, it will be easier to specify the fraction instead of the decimal value
| desc: Angular rate around IMU frame Y axis | ||
| - gyr_z: | ||
| type: s32 | ||
| units: 0.000003725290298 deg/s |
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For the documentation, it will be easier to specify the fraction instead of the decimal value
| desc: Health and status flags | ||
| fields: | ||
| - 0: | ||
| desc: IMU health indicator |
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How do you expect the IMU data generator to populate this field?
| desc: Health and status flags | ||
| fields: | ||
| - 0: | ||
| desc: IMU health indicator |
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How do you expect the IMU data generator to populate this field?
| type: u16 | ||
| units: 0.004 K | ||
| desc: temperature difference from -60 degrees Celsius - use 0xFF for invalid | ||
| - flags: |
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High rate data also contains a flags field with much the same items in it. Is it needed here as well?
| - temperature: | ||
| type: u16 | ||
| units: 0.004 K | ||
| desc: temperature difference from -60 degrees Celsius - use 0xFF for invalid |
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| desc: temperature difference from -60 degrees Celsius - use 0xFF for invalid | |
| desc: temperature difference from -60 degrees Celsius - use 0xFFFF for invalid |
| - imu_id: | ||
| type: u8 | ||
| desc: Identifier of current IMU, e.g. to differentiate between multiple IMUs in the same vehicle | ||
| - imu_type: |
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Do we really need IMU type? The fields in here seem generic enough that we shouldn't need to process it differently based on this.
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Description
This is a draft/RFC for potential successors to our current IMU messages.