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sensors: angular_velocity always get gyro rate from vehicle_imu_status

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- sensor rate is used for control data low pass and notch filters
This commit is contained in:
Daniel Agar
2020-12-14 10:27:57 -05:00
parent 336176b2f0
commit 7038cb8518
3 changed files with 57 additions and 116 deletions
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4
msg/vehicle_imu_status.msg
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@@ -8,8 +8,8 @@ uint32[3] accel_clipping # total clipping per axis
uint32 accel_error_count
uint32 gyro_error_count
uint16 accel_rate_hz
uint16 gyro_rate_hz
float32 accel_rate_hz
float32 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)