dwIMUFrameNew Struct Reference

Detailed Description

This structure contains one frame of data from a IMU sensor.

Deprecated:

dwIMUFrameNew is deprecated and will be removed soon. Please use dwIMUFrame instead.

Definition at line 635 of file IMUTypes.h.

Collaboration diagram for dwIMUFrameNew:

Data Fields
dwIMUSignalValidityInfo	validityInfo
	Signal validity information. More...
dwTime_t	timestamp_us
float64_t	orientation [3]
dwQuaterniond	orientationQuaternion
float64_t	turnrate [3]
float64_t	acceleration [3]
float64_t	magnetometer [3]
float64_t	heading
float32_t	temperature
float64_t	accelerationOffset [3]
float64_t	turnrateOffset [3]
float64_t	turnrateAccel [3]
dwIMUImuTempQuality	imuTempQuality
dwIMUImuAccelerationQuality	imuAccelerationQuality [3]
dwIMUImuTurnrateQuality	imuTurnrateQuality [3]
uint8_t	imuTurnrateOffsetQuality [3]
dwIMUImuTurnrateAccelQuality	imuTurnrateAccelQuality [3]
dwIMUImuTimestampQuality	imuTimestampQuality
dwIMUImuStatus	imuStatus
dwIMUAlignmentStatus	alignmentStatus
	Alignment status. More...
uint8_t	imuTurnrateOffsetQualityStatus [3]
uint8_t	reserved [504]
	Reserved. More...

Field Documentation

acceleration

float64_t dwIMUFrameNew::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 668 of file IMUTypes.h.

accelerationOffset

float64_t dwIMUFrameNew::accelerationOffset[3]

Note

ID VS-90100

description IMU acceleration offset values.

min nan max nan

freq 100 unit m/s²

Definition at line 692 of file IMUTypes.h.

alignmentStatus

dwIMUAlignmentStatus dwIMUFrameNew::alignmentStatus

Alignment status.

Definition at line 804 of file IMUTypes.h.

heading

float64_t dwIMUFrameNew::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 680 of file IMUTypes.h.

imuAccelerationQuality

dwIMUImuAccelerationQuality dwIMUFrameNew::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 735 of file IMUTypes.h.

imuStatus

dwIMUImuStatus dwIMUFrameNew::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 801 of file IMUTypes.h.

imuTempQuality

dwIMUImuTempQuality dwIMUFrameNew::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 718 of file IMUTypes.h.

imuTimestampQuality

dwIMUImuTimestampQuality dwIMUFrameNew::imuTimestampQuality

Note

ID VS-90190

description Vehicle IMU timestamp quality.

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 786 of file IMUTypes.h.

imuTurnrateAccelQuality

dwIMUImuTurnrateAccelQuality dwIMUFrameNew::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 775 of file IMUTypes.h.

imuTurnrateOffsetQuality

uint8_t dwIMUFrameNew::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 758 of file IMUTypes.h.

imuTurnrateOffsetQualityStatus

uint8_t dwIMUFrameNew::imuTurnrateOffsetQualityStatus[3]

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. uint32 sequence_counter = 21 [(dwproto.fieldtype) = "uint8_t"];

ID VS-90171

description Vehicle IMU gyroscope offset values quality is free of errors.

min nan max nan

freq 100 unit unitless

Definition at line 813 of file IMUTypes.h.

imuTurnrateQuality

dwIMUImuTurnrateQuality dwIMUFrameNew::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 752 of file IMUTypes.h.

magnetometer

float64_t dwIMUFrameNew::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 674 of file IMUTypes.h.

orientation

float64_t dwIMUFrameNew::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 650 of file IMUTypes.h.

orientationQuaternion

dwQuaterniond dwIMUFrameNew::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 656 of file IMUTypes.h.

reserved

uint8_t dwIMUFrameNew::reserved[504]

Reserved.

Definition at line 816 of file IMUTypes.h.

temperature

float32_t dwIMUFrameNew::temperature

Note

ID VS-90090

description IMU temperature.

min nan max nan

freq 100 unit Celsius

Definition at line 686 of file IMUTypes.h.

timestamp_us

dwTime_t dwIMUFrameNew::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

Definition at line 644 of file IMUTypes.h.

turnrate

float64_t dwIMUFrameNew::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 662 of file IMUTypes.h.

turnrateAccel

float64_t dwIMUFrameNew::turnrateAccel[3]

Note

ID VS-90120

description IMU gyroscope acceleration values.

min nan max nan

freq 100 unit rad/s²

Definition at line 704 of file IMUTypes.h.

turnrateOffset

float64_t dwIMUFrameNew::turnrateOffset[3]

Note

ID VS-90110

description IMU gyroscope offset values.

min nan max nan

freq 100 unit rad/s

Definition at line 698 of file IMUTypes.h.

validityInfo

dwIMUSignalValidityInfo dwIMUFrameNew::validityInfo

Signal validity information.

Definition at line 638 of file IMUTypes.h.

---

The documentation for this struct was generated from the following file:

• IMUTypes.h