dwIMUFrame Struct Reference
Detailed Description
This structure contains one frame of data from a IMU sensor.
Definition at line 396 of file IMUTypes.h.
Collaboration diagram for dwIMUFrame:
Field Documentation
◆ acceleration
| float64_t dwIMUFrame::acceleration[3] |
- Note
- ID VS-90050
- description Acceleration in X, Y, and Z directions. Linear acceleration measured by the IMU sensor, it does include the gravity component as the sensor measures the reaction due to gravity. This is sometimes referred to as “proper acceleration”. This is an IMU sensor signal, as such it reflects all the motions of the sensor itself, including suspension flexing, gravity, vehicle turning, rolling and pitching. Coordinate system is that of the sensor itself, refer to manufacturer datasheet.
- min nan max nan
- freq 100 unit m/s²
Definition at line 431 of file IMUTypes.h.
◆ accelerationOffset
| float64_t dwIMUFrame::accelerationOffset[3] |
- Note
- ID VS-90100
- description IMU acceleration offset values.
- min nan max nan
- freq 100 unit m/s²
Definition at line 455 of file IMUTypes.h.
◆ alignmentStatus
| dwIMUAlignmentStatus dwIMUFrame::alignmentStatus |
- Note
- description Alignment status
Definition at line 568 of file IMUTypes.h.
◆ errors
| uint64_t dwIMUFrame::errors |
IMU error IDs. It's internally used by SAL sensors. VAL and partners are not intended to use this field.
Definition at line 615 of file IMUTypes.h.
◆ flags
| uint32_t dwIMUFrame::flags |
The flags to show which values are valid in this IMU frame.
Definition of each bit is in enum dwIMUFlags
- Deprecated:
- flags is deprecated and will be removed in next major release. Please use APIs provided in IMUGetterSetter.h to access and check validity of signals
Definition at line 594 of file IMUTypes.h.
◆ heading
| float64_t dwIMUFrame::heading |
- Note
- ID VS-90070
- description Heading of the IMU measured in respect to the ENU system, i.e., compass. This is a signal that can be provided by certain IMU+GNSS sensor solutions as part of the state estimation. It is not used by egomotion. Heading is defined with respect to ENU coordinate system, whereas yaw is in an arbitrary local coordinate system.
- min nan max nan
- freq 100 unit deg
Definition at line 443 of file IMUTypes.h.
◆ headingType
| dwIMUHeadingType dwIMUFrame::headingType |
Type of the heading information.
- Deprecated:
- headingType is deprecated and will be removed in the next major release. Please don't use this field.
Definition at line 587 of file IMUTypes.h.
◆ hostTimestamp
| dwTime_t dwIMUFrame::hostTimestamp |
- Note
- description timestamp provided by SAL when the frame received this timestamp is always available and the behavior may change based on the output-timestamp option: output-timestamp=raw, then hostTimestamp will be overridden by sensorTimestamp output-timestamp=smoothed, then hostTimestamp will be smoothed
- unit us
Definition at line 605 of file IMUTypes.h.
◆ imuAccelerationQuality
| dwIMUImuAccelerationQuality dwIMUFrame::imuAccelerationQuality[3] |
- Note
- ID VS-90150
- description Vehicle IMU acceleration values status.
- min nan max nan
- freq 100 unit unitless
- *** valid values**: { DW_IMU_IMU_ACCELERATION_QUALITY_UNKNOWN DW_IMU_IMU_ACCELERATION_QUALITY_INIT, DW_IMU_IMU_ACCELERATION_QUALITY_UNCALIB, DW_IMU_IMU_ACCELERATION_QUALITY_OK, DW_IMU_IMU_ACCELERATION_QUALITY_TMP_FAIL, DW_IMU_IMU_ACCELERATION_QUALITY_PRMNT_FAIL, DW_IMU_IMU_ACCELERATION_QUALITY_SENS_NOT_INST, DW_IMU_IMU_ACCELERATION_QUALITY_OVERLOAD, DW_IMU_IMU_ACCELERATION_QUALITY_TEMPERATURE }
Definition at line 499 of file IMUTypes.h.
◆ imuStatus
| dwIMUImuStatus dwIMUFrame::imuStatus |
- Note
- ID VS-90200
- description Vehicle IMU overall status.
- min nan max nan
- freq 100 unit unitless
- *** valid values**: { DW_IMU_IMU_STATUS_UNKNOWN DW_IMU_IMU_STATUS_INIT, DW_IMU_IMU_STATUS_UNCALIB, DW_IMU_IMU_STATUS_OK, DW_IMU_IMU_STATUS_TMP_FAIL, DW_IMU_IMU_STATUS_PRMNT_FAIL, DW_IMU_IMU_STATUS_SENS_NOT_INST }
Definition at line 565 of file IMUTypes.h.
◆ imuTempQuality
| dwIMUImuTempQuality dwIMUFrame::imuTempQuality |
- Note
- ID VS-90140
- description Vehicle IMU temperature status.
- FUTURE_IMPLEMENTED_POST_24_06 - This signal is not available from sensor and is effectively ignored by NDAS. Placeholder for future hardware.
- min nan max nan
- freq 100 unit unitless
- *** valid values**: { DW_IMU_IMU_TEMP_QUALITY_INIT, DW_IMU_IMU_TEMP_QUALITY_UNCALIB, DW_IMU_IMU_TEMP_QUALITY_OK, DW_IMU_IMU_TEMP_QUALITY_TMP_FAIL, DW_IMU_IMU_TEMP_QUALITY_PRMNT_FAIL, DW_IMU_IMU_TEMP_QUALITY_SENS_NOT_INST }
Definition at line 482 of file IMUTypes.h.
◆ imuTimestampQuality
| dwIMUImuTimestampQuality dwIMUFrame::imuTimestampQuality |
- Note
- ID VS-90190
- description Vehicle IMU sensor timestamp quality.
- FUTURE_IMPLEMENTED_POST_24_06 - This signal is not available from sensor and is effectively ignored by NDAS. Placeholder for future hardware. ///
- min nan max nan
- freq 100 unit unitless
- *** valid values**: { DW_IMU_IMU_TIMESTAMP_QUALITY_NOT_INIT, DW_IMU_IMU_TIMESTAMP_QUALITY_OK, DW_IMU_IMU_TIMESTAMP_QUALITY_SYNC_LOST, }
Definition at line 550 of file IMUTypes.h.
◆ imuTurnrateAccelQuality
| dwIMUImuTurnrateAccelQuality dwIMUFrame::imuTurnrateAccelQuality[3] |
- Note
- ID VS-90180
- description Vehicle IMU gyroscope acceleration values quality.
- min nan max nan
- freq 100 unit unitless
- *** valid values**: { DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_UNKNOWN DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_INIT, DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_UNCALIB, DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_OK, DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_TMP_FAIL, DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_PRMNT_FAIL, DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_SENS_NOT_INST, DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_OVERLOAD, DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_TEMPERATURE }
Definition at line 539 of file IMUTypes.h.
◆ imuTurnrateOffsetQuality
| uint8_t dwIMUFrame::imuTurnrateOffsetQuality[3] |
- Note
- ID VS-90170
- description Vehicle IMU gyroscope offset values quality on a scale of 0...62.
- min nan max nan
- freq 100 unit unitless
Definition at line 522 of file IMUTypes.h.
◆ imuTurnrateOffsetQualityStatus
| uint8_t dwIMUFrame::imuTurnrateOffsetQualityStatus[3] |
- Note
- ID VS-90171
- description Vehicle IMU gyroscope offset values quality is free of errors.
- FUTURE_IMPLEMENTED_POST_24_06 - This signal is not available from sensor and is effectively ignored by NDAS. Placeholder for future hardware. ///
- min nan max nan
- freq 100 unit unitless
Definition at line 578 of file IMUTypes.h.
◆ imuTurnrateQuality
| dwIMUImuTurnrateQuality dwIMUFrame::imuTurnrateQuality[3] |
- Note
- ID VS-90160
- description Vehicle IMU gyroscope values quality.
- min nan max nan
- freq 100 unit unitless
- *** valid values**: { DW_IMU_IMU_TURNRATE_QUALITY_UNKNOWN DW_IMU_IMU_TURNRATE_QUALITY_INIT, DW_IMU_IMU_TURNRATE_QUALITY_UNCALIB, DW_IMU_IMU_TURNRATE_QUALITY_OK, DW_IMU_IMU_TURNRATE_QUALITY_TMP_FAIL, DW_IMU_IMU_TURNRATE_QUALITY_PRMNT_FAIL, DW_IMU_IMU_TURNRATE_QUALITY_SENS_NOT_INST, DW_IMU_IMU_TURNRATE_QUALITY_OVERLOAD, DW_IMU_IMU_TURNRATE_QUALITY_TEMPERATURE }
Definition at line 516 of file IMUTypes.h.
◆ magnetometer
| float64_t dwIMUFrame::magnetometer[3] |
- Note
- ID VS-90060
- description Measurement of the magnetometer unit in X, Y, and Z directions.
- min nan max nan
- freq 100 unit utesla
Definition at line 437 of file IMUTypes.h.
◆ orientation
| float64_t dwIMUFrame::orientation[3] |
- Note
- ID VS-90020
- description Roll, pitch, and yaw angle of the orientation returned by the IMU. This is a signal that can be provided by certain types of IMUs as part of their internal state estimation. It is not used by egomotion.
- min nan max nan
- freq 100 unit deg
Definition at line 413 of file IMUTypes.h.
◆ orientationQuaternion
| dwQuaterniond dwIMUFrame::orientationQuaternion |
- Note
- ID VS-90030
- description Quaternion representation (x, y, z, w) of the orientation returned by the IMU. This is a signal that can be provided by certain types of IMUs as part of their internal state estimation. It is not used by egomotion.
- min nan max nan
- freq 100 unit unitless
Definition at line 419 of file IMUTypes.h.
◆ reserved
| uint8_t dwIMUFrame::reserved[467] |
Reserved.
Definition at line 627 of file IMUTypes.h.
◆ sensorTimestamp
| dwTime_t dwIMUFrame::sensorTimestamp |
- Note
- description timestamp provided when physical sensor generate the frame if sensor can support timestamp, this timestamp can be used to indicate what's time spent when the frame arrive SAL from sensor by diff(hostTimestamp-sensorTimestamp), For SAL user, you can specify output-timestamp=raw if you think sensorTimestamp is more reliable
- unit us in all contexts except when sensorTimestampFormat is equal to dwIMUTimestampFormat::DW_IMU_TIMESTAMP_FORMAT_PTP16 in which case the smallest unit is 100us.
Definition at line 612 of file IMUTypes.h.
◆ sensorTimestampFormat
| dwIMUTimestampFormat dwIMUFrame::sensorTimestampFormat |
- Note
- format of sensorTimestamp in this structure
- *** valid values**: { DW_IMU_TIMESTAMP_FORMAT_UNSPECIFIED, DW_IMU_TIMESTAMP_FORMAT_PTP64, DW_IMU_TIMESTAMP_FORMAT_PTP16, DW_IMU_TIMESTAMP_FORMAT_CCPLEX_TSC }
Definition at line 624 of file IMUTypes.h.
◆ sequenceCounter
| uint8_t dwIMUFrame::sequenceCounter |
- Note
- description Sequence counter
- FUTURE_IMPLEMENTED_POST_24_06 - This signal is not available from sensor and is effectively ignored by NDAS. Placeholder for future hardware.
Definition at line 572 of file IMUTypes.h.
◆ temperature
| float32_t dwIMUFrame::temperature |
- Note
- ID VS-90090
- description IMU temperature.
- min nan max nan
- freq 100 unit Celsius
Definition at line 449 of file IMUTypes.h.
◆ timestamp_us
| dwTime_t dwIMUFrame::timestamp_us |
- Note
- ID VS-90010
- description Timestamp for the current message. Indicates when it's first received.
- min nan max nan
- freq 100 unit us
- Deprecated:
- timestamp_us is deprecated and will not be used in the next major release. Please use hostTimestamp or sensorTimestamp instead.
Definition at line 407 of file IMUTypes.h.
◆ timeSyncStatus
| uint8_t dwIMUFrame::timeSyncStatus |
- Note
- description time sync status
Definition at line 597 of file IMUTypes.h.
◆ turnrate
| float64_t dwIMUFrame::turnrate[3] |
- Note
- ID VS-90040
- description Roll, pitch, and yaw turn rate (i.e., gyroscope). Angular velocities measured by the IMU sensor, they are given in the coordinate system of the sensor.
- min nan max nan
- freq 100 unit rad/s
Definition at line 425 of file IMUTypes.h.
◆ turnrateAccel
| float64_t dwIMUFrame::turnrateAccel[3] |
- Note
- ID VS-90120
- description IMU gyroscope acceleration values.
- min nan max nan
- freq 100 unit rad/s²
Definition at line 467 of file IMUTypes.h.
◆ turnrateOffset
| float64_t dwIMUFrame::turnrateOffset[3] |
- Note
- ID VS-90110
- description IMU gyroscope offset values.
- min nan max nan
- freq 100 unit rad/s
Definition at line 461 of file IMUTypes.h.
◆ validityInfo
| dwIMUSignalValidityInfo dwIMUFrame::validityInfo |
Signal validity info.
Definition at line 399 of file IMUTypes.h.
The documentation for this struct was generated from the following file: