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sensors/vehicle_imu: incremental step towards multi-EKF

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Daniel Agar
2020-01-21 16:47:38 -05:00
parent 0e90448e52
commit 697dbfb9f8
13 changed files with 611 additions and 79 deletions
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msg/vehicle_imu.msg
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# IMU readings in SI-unit form.
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample
uint32 accel_device_id # Accelerometer unique device ID for the sensor that does not change between power cycles
uint32 gyro_device_id # Gyroscope unique device ID for the sensor that does not change between power cycles
float32[3] delta_angle # delta angle in the NED board axis in rad/s over the integration time frame (dt)
float32[3] delta_velocity # delta velocity in the NED board axis in m/s over the integration time frame (dt)
uint16 dt # integration period in us
uint8 integrated_samples # number of samples integrated
uint8 clip_count # total clip count per integration period on any axis