| Copyright | Copyright (C) 2015-2021 Swift Navigation Inc. |
|---|---|
| License | MIT |
| Stability | experimental |
| Portability | portable |
| Safe Haskell | Safe-Inferred |
| Language | Haskell2010 |
SwiftNav.SBP.Imu
Description
< Inertial Measurement Unit (IMU) messages. >
Synopsis
- data MsgImuRaw = MsgImuRaw {}
- data MsgImuAux = MsgImuAux {}
- msgImuRaw :: Word16
- msgImuAux :: Word16
- 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_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" local time tags, the receiving end will expect either a MSG_GNSS_TIME_OFFSET or MSG_PPS_TIME to establish the relationship between IMU time and GNSS time. Regardless of the timestamping mode, the timestamp is required to roll over to zero when reaching one week (604800 seconds, or 604800000 milliseconds). The time-tagging mode should not change throughout a run.
Constructors
| MsgImuRaw | |
Fields
| |
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.
Constructors
| MsgImuAux | |
Fields
| |