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https://github.com/PX4/PX4-Autopilot.git
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cea185268e
- update all msgs to be directly compatible with ROS2 - microdds_client improvements - timesync - reduced code size - add to most default builds if we can afford it - lots of other little changes - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
29 lines
1.3 KiB
Plaintext
29 lines
1.3 KiB
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint32 accel_device_id # unique device ID for the sensor that does not change between power cycles
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uint32 gyro_device_id # unique device ID for the sensor that does not change between power cycles
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uint32[3] accel_clipping # total clipping per axis
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uint32[3] gyro_clipping # total clipping per axis
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uint32 accel_error_count
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uint32 gyro_error_count
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float32 accel_rate_hz
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float32 gyro_rate_hz
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float32 accel_raw_rate_hz # full raw sensor sample rate (Hz)
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float32 gyro_raw_rate_hz # full raw sensor sample rate (Hz)
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float32 accel_vibration_metric # high frequency vibration level in the accelerometer data (m/s/s)
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float32 gyro_vibration_metric # high frequency vibration level in the gyro data (rad/s)
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float32 delta_angle_coning_metric # average IMU delta angle coning correction (rad^2)
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float32[3] mean_accel # average accelerometer readings since last publication
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float32[3] mean_gyro # average gyroscope readings since last publication
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float32[3] var_accel # accelerometer variance since last publication
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float32[3] var_gyro # gyroscope variance since last publication
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float32 temperature_accel
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float32 temperature_gyro
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