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sensors/vehicle_imu: replace coning metric with actual integrator coning correction (averaged)

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- this saves a relatively expensive higih rate cross product and gives
better visibility into what's actually happening internally
This commit is contained in:
Daniel Agar
2022-04-12 14:30:28 -04:00
parent 37cafe7dcd
commit d2f1349d1a
5 changed files with 30 additions and 16 deletions
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msg/vehicle_imu_status.msg
+3 -3
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@@ -14,9 +14,9 @@ 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 IMU delta velocity data (m/s)
float32 gyro_vibration_metric # high frequency vibration level in the IMU delta velocity data (m/s)
float32 gyro_coning_vibration # Level of coning vibration in the IMU delta angles (rad^2)
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