Detailed 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.

Inheritance diagram for point_one::fusion_engine::messages::IMUOutput:

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

Public Attributes
double	accel_mps2 [3] = {NAN, NAN, NAN}
	Corrected vehicle x/y/z acceleration (in meters/second^2), resolved in the body frame. More...

double	accel_std_mps2 [3] = {NAN, NAN, NAN}
	Corrected vehicle x/y/z acceleration standard deviation (in meters/second^2), resolved in the body frame. More...

double	gyro_rps [3] = {NAN, NAN, NAN}
	Corrected vehicle x/y/z rate of rotation (in radians/second), resolved in the body frame. More...

double	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. More...

Timestamp	p1_time
	The time of the measurement, in P1 time (beginning at power-on). More...

Static Public Attributes
static constexpr MessageType	MESSAGE_TYPE = MessageType::IMU_OUTPUT

static constexpr uint8_t	MESSAGE_VERSION = 0

Member Data Documentation

◆ 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.

◆ 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.

◆ 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.

◆ 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.

◆ MESSAGE_TYPE

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

staticconstexpr

Definition at line 285 of file measurements.h.

◆ MESSAGE_VERSION

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

staticconstexpr

Definition at line 286 of file measurements.h.

◆ 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.

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

src/point_one/fusion_engine/messages/measurements.h