IMU Sensor New

Detailed Description

Defines the IMU sensor.

Data Structures
struct	dwIMUFrameNew
	This structure contains one frame of data from a IMU sensor. More...
struct	dwIMUFrameNew.validityInfo

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Data Structure Documentation

dwIMUFrameNew

struct dwIMUFrameNew

Data Fields
float64_t	acceleration[3]	Note ID VS-90050 description Acceleration in X, Y, and Z directions. min nan max nan freq 100 unit m/s²
float64_t	accelerationOffset[3]	Note ID VS-90100 description IMU acceleration offset values. min nan max nan freq 100 unit m/s²
float64_t	heading	Note ID VS-90070 description Heading of the IMU measured in respect to the ENU system, i.e., compass. min nan max nan freq 100 unit deg
dwIMUHeadingType	headingType	Note ID VS-90080 description Type of the heading information. min nan max nan freq 100 unit -
uint32_t	imuAccelerationQuality[3]	Note ID VS-90150 description ORC IMU acceleration values status. min nan max nan freq 100 unit -
uint32_t	imuStatus	Note ID VS-90200 description ORC IMU overall status. min nan max nan freq 100 unit -
uint32_t	imuTempQuality	Note ID VS-90140 description ORC IMU temperature status. min nan max nan freq 100 unit -
uint32_t	imuTimestampQuality	Note ID VS-90190 description ORC IMU timestamp quality. min nan max nan freq 100 unit -
uint32_t	imuTurnrateAccelQuality[3]	Note ID VS-90180 description ORC IMU gyroscope acceleration values quality. min nan max nan freq 100 unit -
uint32_t	imuTurnrateOffsetQuality[3]	Note ID VS-90170 description ORC IMU gyroscope offset values quality. min nan max nan freq 100 unit -
uint32_t	imuTurnrateQuality[3]	Note ID VS-90160 description ORC IMU gyroscope values quality. min nan max nan freq 100 unit -
float64_t	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
float64_t	orientation[3]	Note ID VS-90020 description Roll, pitch, and yaw angle of the orientation returned by the IMU. min nan max nan freq 100 unit deg
dwQuaterniond	orientationQuaternion	Note ID VS-90030 description Quaternion representation (x, y, z, w) of the orientation returned by the IMU. min nan max nan freq 100 unit unitless
uint8_t	reserved[512]
float32_t	temperature	Note ID VS-90090 description IMU temperature. min nan max nan freq 100 unit C
dwTime_t	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
float64_t	turnrate[3]	Note ID VS-90040 description Roll, pitch, and yaw turn rate (i.e., gyroscope). min nan max nan freq 100 unit rad/s
float64_t	turnrateAccel[3]	Note ID VS-90120 description IMU gyroscope acceleration values. min nan max nan freq 100 unit rad/sec²
float64_t	turnrateOffset[3]	Note ID VS-90110 description IMU gyroscope offset values. min nan max nan freq 100 unit rad/s
struct dwIMUFrameNew	validityInfo

dwIMUFrameNew.validityInfo

struct dwIMUFrameNew.validityInfo

Data Fields
dwSignalValidity	acceleration[3]
dwSignalValidity	accelerationOffset[3]
dwSignalValidity	heading
dwSignalValidity	headingType
dwSignalValidity	imuAccelerationQuality[3]
dwSignalValidity	imuStatus
dwSignalValidity	imuTempQuality
dwSignalValidity	imuTimestampQuality
dwSignalValidity	imuTurnrateAccelQuality[3]
dwSignalValidity	imuTurnrateOffsetQuality[3]
dwSignalValidity	imuTurnrateQuality[3]
dwSignalValidity	magnetometer[3]
dwSignalValidity	orientation[3]
dwSignalValidity	orientationQuaternion
dwSignalValidity	reserved[64]
dwSignalValidity	temperature
dwSignalValidity	timestamp_us
dwSignalValidity	turnrate[3]
dwSignalValidity	turnrateAccel[3]
dwSignalValidity	turnrateOffset[3]