Struct sbp::messages::imu::MsgImuRaw [−][src]
pub struct MsgImuRaw {
pub sender_id: Option<u16>,
pub tow: u32,
pub tow_f: u8,
pub acc_x: i16,
pub acc_y: i16,
pub acc_z: i16,
pub gyr_x: i16,
pub gyr_y: i16,
pub gyr_z: i16,
}
Expand description
Raw IMU data
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” time tags, the
receiving end will expect a MSG_GNSS_TIME_OFFSET
when a PVT fix becomes
available to synchronise IMU measurements with GNSS. The timestamp must
wrap around to zero when reaching one week (604800 seconds).
The time-tagging mode should not change throughout a run.
Fields
sender_id: Option<u16>
The message sender_id
tow: u32
Milliseconds since reference epoch and time status.
tow_f: u8
Milliseconds since reference epoch, fractional part
acc_x: i16
Acceleration in the IMU frame X axis
acc_y: i16
Acceleration in the IMU frame Y axis
acc_z: i16
Acceleration in the IMU frame Z axis
gyr_x: i16
Angular rate around IMU frame X axis
gyr_y: i16
Angular rate around IMU frame Y axis
gyr_z: i16
Angular rate around IMU frame Z axis
Trait Implementations
The message type.
The message name.
Get the message name.
Get the message type.
Set the sender id.
Number of bytes this message will take on the wire.
Auto Trait Implementations
impl RefUnwindSafe for MsgImuRaw
impl UnwindSafe for MsgImuRaw
Blanket Implementations
Mutably borrows from an owned value. Read more