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IMUOutput Struct

IMU sensor measurement output with calibration and corrections applied (MessageType::IMU_OUTPUT, version 1.0). More...

Declaration​

struct point_one::fusion_engine::messages::IMUOutput { ... }

Included Headers​

#include <point_one/fusion_engine/messages/measurements.h>

Base struct​

structMessagePayload

The base class for all message payloads. More...

Public Member Attributes Index​

doubleaccel_mps2[3] = {NAN, NAN, NAN}

Corrected vehicle x/y/z acceleration (in meters/second^2), resolved in the body frame. More...

doubleaccel_std_mps2[3] = {NAN, NAN, NAN}

Corrected vehicle x/y/z acceleration standard deviation (in meters/second^2), resolved in the body frame. More...

doublegyro_rps[3] = {NAN, NAN, NAN}

Corrected vehicle x/y/z rate of rotation (in radians/second), resolved in the body frame. More...

doublegyro_std_rps[3] = {NAN, NAN, NAN}

Corrected vehicle x/y/z rate of rotation standard deviation (in radians/second), resolved in the body frame. More...

Timestampp1_time

The time of the measurement, in P1 time (beginning at power-on). More...

Public Static Attributes Index​

static constexpr MessageTypeMESSAGE_TYPE = MessageType::IMU_OUTPUT
static constexpr uint8_tMESSAGE_VERSION = 0

Description​

IMU sensor measurement output with calibration and corrections applied (MessageType::IMU_OUTPUT, version 1.0).

This message is an output from the device containing IMU acceleration and rotation rate measurements. The measurements been corrected for biases and scale factors, and have been rotated into the vehicle body frame from the original IMU orientation, including calibrated mounting error estimates.

See also RawIMUOutput.

Definition at line 284 of file measurements.h.

Public Member Attributes​

accel_mps2​

double point_one::fusion_engine::messages::IMUOutput::accel_mps2[3] = {NAN, NAN, NAN}

Corrected vehicle x/y/z acceleration (in meters/second^2), resolved in the body frame.

Definition at line 295 of file measurements.h.

295 double accel_mps2[3] = {NAN, NAN, NAN};

accel_std_mps2​

double point_one::fusion_engine::messages::IMUOutput::accel_std_mps2[3] = {NAN, NAN, NAN}

Corrected vehicle x/y/z acceleration standard deviation (in meters/second^2), resolved in the body frame.

Definition at line 301 of file measurements.h.

301 double accel_std_mps2[3] = {NAN, NAN, NAN};

gyro_rps​

double point_one::fusion_engine::messages::IMUOutput::gyro_rps[3] = {NAN, NAN, NAN}

Corrected vehicle x/y/z rate of rotation (in radians/second), resolved in the body frame.

Definition at line 307 of file measurements.h.

307 double gyro_rps[3] = {NAN, NAN, NAN};

gyro_std_rps​

double point_one::fusion_engine::messages::IMUOutput::gyro_std_rps[3] = {NAN, NAN, NAN}

Corrected vehicle x/y/z rate of rotation standard deviation (in radians/second), resolved in the body frame.

Definition at line 313 of file measurements.h.

313 double gyro_std_rps[3] = {NAN, NAN, NAN};

p1_time​

Timestamp point_one::fusion_engine::messages::IMUOutput::p1_time

The time of the measurement, in P1 time (beginning at power-on).

Definition at line 289 of file measurements.h.

289 Timestamp p1_time;

Public Static Attributes​

MESSAGE_TYPE​

constexpr MessageType point_one::fusion_engine::messages::IMUOutput::MESSAGE_TYPE = MessageType::IMU_OUTPUT
 constexpr static

Definition at line 285 of file measurements.h.

285 static constexpr MessageType MESSAGE_TYPE = MessageType::IMU_OUTPUT;

MESSAGE_VERSION​

constexpr uint8_t point_one::fusion_engine::messages::IMUOutput::MESSAGE_VERSION = 0
 constexpr static

Definition at line 286 of file measurements.h.

286 static constexpr uint8_t MESSAGE_VERSION = 0;

The documentation for this struct was generated from the following file:

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