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sensors: compute and publish vehicle_angular_acceleration

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- introduces parameter IMU_DGYRO_CUTOFF to configure the angular acceleration low pass filter
 - the angular acceleration is computed by differentiating angular velocity after the notch filter (IMU_GYRO_NF_FREQ & IMU_GYRO_NF_BW) is applied

Co-authored-by: Julien Lecoeur <jlecoeur@users.noreply.github.com>
This commit is contained in:
Daniel Agar
2020-01-27 16:44:01 -05:00
committed by GitHub
parent 497ab07daf
commit 1237402fa4
7 changed files with 98 additions and 34 deletions
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msg/tools/uorb_rtps_message_ids.yaml
+2
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@@ -277,6 +277,8 @@ rtps:
id: 123
- msg: vehicle_imu
id: 124
- msg: vehicle_angular_acceleration
id: 125
########## multi topics: begin ##########
- msg: actuator_controls_0
id: 150