measurements.h

Go to the documentation of this file.

/**************************************************************************/ /**
 * @brief Sensor measurement messages.
 * @file
 ******************************************************************************/
 
#pragma once
 
#include "point_one/fusion_engine/messages/defs.h"
 
namespace point_one {
namespace fusion_engine {
namespace messages {
 
// Enforce 4-byte alignment and packing of all data structures and values.
// Floating point values are aligned on platforms that require it. This is done
// with a combination of setting struct attributes, and manual alignment
// within the definitions. See the "Message Packing" section of the README.
#pragma pack(push, 1)
 
/**
 * @defgroup measurement_messages Sensor Measurement Message Definitions
 * @brief Measurement data from available sensors.
 * @ingroup messages
 *
 * See also @ref messages.
 */
 
/**
 * @brief IMU sensor measurement data (@ref MessageType::IMU_MEASUREMENT,
 *        version 1.0).
 * @ingroup measurement_messages
 *
 * @note
 * The data contained in this message has been corrected for accelerometer and
 * gyro biases and scale factors, and has been rotated into the vehicle body
 * frame from the original IMU orientation.
 */
struct alignas(4) IMUMeasurement : public MessagePayload {
  static constexpr MessageType MESSAGE_TYPE = MessageType::IMU_MEASUREMENT;
  static constexpr uint8_t MESSAGE_VERSION = 0;
 
  /** The time of the message, in P1 time (beginning at power-on). */
  Timestamp p1_time;
 
  /**
   * Corrected vehicle x/y/z acceleration (in meters/second^2), resolved in the
   * body frame.
   */
  double accel_mps2[3] = {NAN, NAN, NAN};
 
  /**
   * Corrected vehicle x/y/z acceleration standard deviation (in
   * meters/second^2), resolved in the body frame.
   */
  double accel_std_mps2[3] = {NAN, NAN, NAN};
 
  /**
   * Corrected vehicle x/y/z rate of rotation (in radians/second), resolved in
   * the body frame.
   */
  double gyro_rps[3] = {NAN, NAN, NAN};
 
  /**
   * Corrected vehicle x/y/z rate of rotation standard deviation (in
   * radians/second), resolved in the body frame.
   */
  double gyro_std_rps[3] = {NAN, NAN, NAN};
};
 
#pragma pack(pop)
 
} // namespace messages
} // namespace fusion_engine
} // namespace point_one