| Data Fields |
|---|
|
float64_t |
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
|
|
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. 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
|
|
dwIMUImuAccelerationQuality |
imuAccelerationQuality[3] |
- Note
- ID VS-90150
-
description Vehicle IMU acceleration values status.
-
TODO: Backend not yet implemented
-
min nan max nan
-
freq 100 unit -
-
*** valid values**: { 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 }
|
|
dwIMUImuStatus |
imuStatus |
- Note
- ID VS-90200
-
description Vehicle IMU overall status.
-
min nan max nan
-
freq 100 unit -
-
*** valid values**: { 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 }
|
|
dwIMUImuTempQuality |
imuTempQuality |
- Note
- ID VS-90140
-
description Vehicle IMU temperature status.
-
TODO: Backend not yet implemented
-
min nan max nan
-
freq 100 unit -
-
*** 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 }
|
|
dwIMUImuTimestampQuality |
imuTimestampQuality |
- Note
- ID VS-90190
-
description Vehicle IMU timestamp quality.
-
TODO: Backend not yet implemented
-
min nan max nan
-
freq 100 unit -
-
*** valid values**: { DW_IMU_IMU_TIMESTAMP_QUALITY_INIT, DW_IMU_IMU_TIMESTAMP_QUALITY_UNCALIB, DW_IMU_IMU_TIMESTAMP_QUALITY_OK, DW_IMU_IMU_TIMESTAMP_QUALITY_TMP_FAIL, DW_IMU_IMU_TIMESTAMP_QUALITY_PRMNT_FAIL, DW_IMU_IMU_TIMESTAMP_QUALITY_SENS_NOT_INST }
|
|
dwIMUImuTurnrateAccelQuality |
imuTurnrateAccelQuality[3] |
- Note
- ID VS-90180
-
description Vehicle IMU gyroscope acceleration values quality.
-
TODO: Backend not yet implemented
-
min nan max nan
-
freq 100 unit -
-
*** valid values**: { 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 }
|
|
uint8_t |
imuTurnrateOffsetQuality[3] |
- Note
- ID VS-90170
-
description Vehicle IMU gyroscope offset values quality on a scale of 0...62.
-
TODO: Backend not yet implemented
-
min nan max nan
-
freq 100 unit unitless
|
|
dwIMUImuTurnrateQuality |
imuTurnrateQuality[3] |
- Note
- ID VS-90160
-
description Vehicle IMU gyroscope values quality.
-
TODO: Backend not yet implemented
-
min nan max nan
-
freq 100 unit -
-
*** valid values**: { 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 }
|
|
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. 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
|
|
dwQuaterniond |
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
|
|
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). 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
|
|
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 |
validityInfo |
|
