Copyright | Copyright (C) 2015-2018 Swift Navigation Inc. |
---|---|
License | MIT |
Stability | experimental |
Portability | portable |
Safe Haskell | None |
Language | Haskell2010 |
< Inertial Measurement Unit (IMU) messages. >
Synopsis
- data MsgImuRaw = MsgImuRaw {}
- msgImuRaw :: Word16
- data MsgImuAux = MsgImuAux {}
- msgImuRaw_acc_x :: Lens' MsgImuRaw Int16
- msgImuRaw_acc_y :: Lens' MsgImuRaw Int16
- msgImuRaw_acc_z :: Lens' MsgImuRaw Int16
- msgImuRaw_gyr_x :: Lens' MsgImuRaw Int16
- msgImuRaw_gyr_y :: Lens' MsgImuRaw Int16
- msgImuRaw_gyr_z :: Lens' MsgImuRaw Int16
- msgImuRaw_tow :: Lens' MsgImuRaw Word32
- msgImuRaw_tow_f :: Lens' MsgImuRaw Word8
- msgImuAux :: Word16
- msgImuAux_imu_conf :: Lens' MsgImuAux Word8
- msgImuAux_imu_type :: Lens' MsgImuAux Word8
- msgImuAux_temp :: Lens' MsgImuAux Int16
Documentation
SBP class for message MSG_IMU_RAW (0x0900).
Raw data from the Inertial Measurement Unit, containing accelerometer and
gyroscope readings. The sense of the measurements are to be aligned with
the indications on the device itself. Measurement units, which are specific
to the device hardware and settings, are communicated via the MSG_IMU_AUX
message. If using "time since startup" time tags, the receiving end will
expect a MSG_GNSS_TIME_OFFSET
when a PVT fix becomes available to
synchronise IMU measurements with GNSS. The timestamp must wrap around to
zero when reaching one week (604800 seconds).
The time-tagging mode should not change throughout a run.
MsgImuRaw | |
|
SBP class for message MSG_IMU_AUX (0x0901).
Auxiliary data specific to a particular IMU. The imu_type
field will
always be consistent but the rest of the payload is device specific and
depends on the value of imu_type
.
MsgImuAux | |
|