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69 lines
4.8 KiB
Markdown
69 lines
4.8 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# VehicleImu (UORB message)
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IMU readings in SI-unit form.
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**TOPICS:** vehicle_imu
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| --------------------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------------------------- |
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| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
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| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | | |
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| <a id="fld_accel_device_id"></a>accel_device_id | `uint32` | | | Accelerometer unique device ID for the sensor that does not change between power cycles |
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| <a id="fld_gyro_device_id"></a>gyro_device_id | `uint32` | | | Gyroscope unique device ID for the sensor that does not change between power cycles |
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| <a id="fld_delta_angle"></a>delta_angle | `float32[3]` | | | delta angle about the FRD body frame XYZ-axis in rad over the integration time frame (delta_angle_dt) |
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| <a id="fld_delta_velocity"></a>delta_velocity | `float32[3]` | | | delta velocity in the FRD body frame XYZ-axis in m/s over the integration time frame (delta_velocity_dt) |
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| <a id="fld_delta_angle_dt"></a>delta_angle_dt | `uint32` | | | integration period in microseconds |
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| <a id="fld_delta_velocity_dt"></a>delta_velocity_dt | `uint32` | | | integration period in microseconds |
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| <a id="fld_delta_angle_clipping"></a>delta_angle_clipping | `uint8` | | | bitfield indicating if there was any gyro clipping (per axis) during the integration time frame |
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| <a id="fld_delta_velocity_clipping"></a>delta_velocity_clipping | `uint8` | | | bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame |
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| <a id="fld_accel_calibration_count"></a>accel_calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever accelermeter calibration changes. |
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| <a id="fld_gyro_calibration_count"></a>gyro_calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever rate gyro calibration changes. |
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## Constants
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| Name | Type | Value | Description |
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| ----------------------------------- | ------- | ----- | ----------- |
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| <a id="#CLIPPING_X"></a> CLIPPING_X | `uint8` | 1 |
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| <a id="#CLIPPING_Y"></a> CLIPPING_Y | `uint8` | 2 |
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| <a id="#CLIPPING_Z"></a> CLIPPING_Z | `uint8` | 4 |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleImu.msg)
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::: details Click here to see original file
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```c
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# IMU readings in SI-unit form.
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample
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uint32 accel_device_id # Accelerometer unique device ID for the sensor that does not change between power cycles
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uint32 gyro_device_id # Gyroscope unique device ID for the sensor that does not change between power cycles
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float32[3] delta_angle # delta angle about the FRD body frame XYZ-axis in rad over the integration time frame (delta_angle_dt)
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float32[3] delta_velocity # delta velocity in the FRD body frame XYZ-axis in m/s over the integration time frame (delta_velocity_dt)
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uint32 delta_angle_dt # integration period in microseconds
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uint32 delta_velocity_dt # integration period in microseconds
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uint8 CLIPPING_X = 1
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uint8 CLIPPING_Y = 2
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uint8 CLIPPING_Z = 4
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uint8 delta_angle_clipping # bitfield indicating if there was any gyro clipping (per axis) during the integration time frame
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uint8 delta_velocity_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame
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uint8 accel_calibration_count # Calibration changed counter. Monotonically increases whenever accelermeter calibration changes.
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uint8 gyro_calibration_count # Calibration changed counter. Monotonically increases whenever rate gyro calibration changes.
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```
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:::
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