msg/sensor_accel.msg

uint64 timestamp          # time since system start (microseconds)
uint64 timestamp_sample

uint32 device_id          # unique device ID for the sensor that does not change between power cycles

float32 x                 # acceleration in the FRD board frame X-axis in m/s^2
float32 y                 # acceleration in the FRD board frame Y-axis in m/s^2
float32 z                 # acceleration in the FRD board frame Z-axis in m/s^2

float32 temperature       # temperature in degrees Celsius

uint32 error_count

uint8[3] clip_counter     # clip count per axis in the sample period

uint8 ORB_QUEUE_LENGTH = 8
sensor accel/gyro message cleanup - split out integrated data into new standalone messages (sensor_accel_integrated and sensor_gyro_integrated) - publish sensor_gyro at full rate and remove sensor_gyro_control - limit sensor status publications to 10 Hz - remove unused accel/gyro raw ADC fields - add device IDs to sensor_bias and sensor_correction - vehicle_angular_velocity/vehicle_acceleration: check device ids before using bias and corrections 2020-01-18 01:15:00 -05:00			`uint64 timestamp # time since system start (microseconds)`
			`uint64 timestamp_sample`
sensor messages remove unused fields and improve comments 2018-07-29 12:22:29 -04:00
sensor accel/gyro message cleanup - split out integrated data into new standalone messages (sensor_accel_integrated and sensor_gyro_integrated) - publish sensor_gyro at full rate and remove sensor_gyro_control - limit sensor status publications to 10 Hz - remove unused accel/gyro raw ADC fields - add device IDs to sensor_bias and sensor_correction - vehicle_angular_velocity/vehicle_acceleration: check device ids before using bias and corrections 2020-01-18 01:15:00 -05:00			`uint32 device_id # unique device ID for the sensor that does not change between power cycles`
sensor messages remove unused fields and improve comments 2018-07-29 12:22:29 -04:00
Clarification of coordinate systems for sensors_* and vehicle_* messages (#16339) Changed all 'NED' references to 'FRD'. Also cleaned up mixing of m/s/s and m/s^2 to use the latter. Corrected m/s/s to Pascals. Plus minor typos. Also made some minor cosmetic clean ups. Co-authored-by: Robin <robin@Robins-MacBook-Pro-Work.local> Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com> 2020-12-15 09:18:05 +01:00			`float32 x # acceleration in the FRD board frame X-axis in m/s^2`
			`float32 y # acceleration in the FRD board frame Y-axis in m/s^2`
			`float32 z # acceleration in the FRD board frame Z-axis in m/s^2`
sensor messages remove unused fields and improve comments 2018-07-29 12:22:29 -04:00
Clarification of coordinate systems for sensors_* and vehicle_* messages (#16339) Changed all 'NED' references to 'FRD'. Also cleaned up mixing of m/s/s and m/s^2 to use the latter. Corrected m/s/s to Pascals. Plus minor typos. Also made some minor cosmetic clean ups. Co-authored-by: Robin <robin@Robins-MacBook-Pro-Work.local> Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com> 2020-12-15 09:18:05 +01:00			`float32 temperature # temperature in degrees Celsius`
sensors: move accel filtering to sensors/vehicle_acceleration I've added a queue depth of 4 for sensor_accel and sensor_gyro. This is initially added because it's not always possible for the `vehicle_acceleration` to keep up with every publication of the primary accelerator as it runs in the same thread as ekf2, various controllers, etc. Later this mechanism will be used in a few areas - rate limit `vehicle_angular_velocity` and `vehicle_acceleration` without missing any raw data - move IMU integration to `vehicle_imu` and out of the actual driver threads, eliminating the need for sensor_accel_integrated and sensor_gyro_integrated - integrate raw gyro synchronized with optical flow measurements 2020-01-29 16:13:38 -05:00
move IMU integration out of drivers to sensors hub to handle accel/gyro sync - IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu - sensors: voted_sensors_update now consumes vehicle_imu - delete sensor_accel_integrated, sensor_gyro_integrated - merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status - sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance) 2020-05-30 11:07:54 -04:00			`uint32 error_count`

			`uint8[3] clip_counter # clip count per axis in the sample period`

			`uint8 ORB_QUEUE_LENGTH = 8`