PX4-Autopilot/docs/en/msg_docs/SensorsStatusImu.md

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SensorsStatusImu (UORB message)

Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.

TOPICS: sensors_status_imu

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
accel_device_id_primary	uint32			current primary accel device id for reference
accel_device_ids	uint32[4]
accel_inconsistency_m_s_s	float32[4]			magnitude of acceleration difference between IMU instance and mean in m/s^2.
accel_healthy	bool[4]
accel_priority	uint8[4]
gyro_device_id_primary	uint32			current primary gyro device id for reference
gyro_device_ids	uint32[4]
gyro_inconsistency_rad_s	float32[4]			magnitude of angular rate difference between IMU instance and mean in (rad/s).
gyro_healthy	bool[4]
gyro_priority	uint8[4]

Source Message

Source file (GitHub)

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#
# Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
#
uint64 timestamp # time since system start (microseconds)

uint32 accel_device_id_primary       # current primary accel device id for reference

uint32[4] accel_device_ids
float32[4] accel_inconsistency_m_s_s # magnitude of acceleration difference between IMU instance and mean in m/s^2.
bool[4] accel_healthy
uint8[4] accel_priority

uint32 gyro_device_id_primary       # current primary gyro device id for reference

uint32[4] gyro_device_ids
float32[4] gyro_inconsistency_rad_s # magnitude of angular rate difference between IMU instance and mean in (rad/s).
bool[4] gyro_healthy
uint8[4] gyro_priority

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