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sensors/vehicle_imu: vehicle_imu_status add mean accel/gyro

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- this makes it slightly easier to gather long term data for an Allan Variance
 - fixes https://github.com/PX4/Firmware/issues/6250
This commit is contained in:
Daniel Agar
2020-10-05 22:18:03 -04:00
committed by GitHub
parent 08bf71b73d
commit f01c4e769f
3 changed files with 48 additions and 8 deletions
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msg/vehicle_imu_status.msg
+12 -6
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@@ -1,9 +1,9 @@
uint64 timestamp # time since system start (microseconds)
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 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 # clipping per axis
uint32[3] accel_clipping # total clipping per axis
uint32 accel_error_count
uint32 gyro_error_count
@@ -12,5 +12,11 @@ uint16 accel_rate_hz
uint16 gyro_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 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[3] mean_accel # average accelerometer readings since last publication
float32[3] mean_gyro # average gyroscope readings since last publication
float32 temperature_accel
float32 temperature_gyro