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ST ISM330DLC IMU driver

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Daniel Agar
2019-10-14 20:09:39 -04:00
parent eb560e8a0f
commit 1a395fb6d9
24 changed files with 1675 additions and 91 deletions
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5
msg/sensor_gyro.msg
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@@ -1,6 +1,5 @@
uint32 device_id # unique device ID for the sensor that does not change between power cycles
uint64 timestamp # time since system start (microseconds)
uint32 device_id # unique device ID for the sensor that does not change between power cycles
uint64 error_count
@@ -9,9 +8,11 @@ float32 y # angular velocity in the NED Y board axis in rad/s
float32 z # angular velocity in the NED Z board axis in rad/s
uint32 integral_dt # integration time (microseconds)
uint8 integral_samples # number of samples integrated
float32 x_integral # delta angle in the NED X board axis in rad/s over the integration time frame (integral_dt)
float32 y_integral # delta angle in the NED Y board axis in rad/s over the integration time frame (integral_dt)
float32 z_integral # delta angle in the NED Z board axis in rad/s over the integration time frame (integral_dt)
uint8 integral_clip_count # total clip count per integration period on any axis
float32 temperature # temperature in degrees celsius