File: asctec_msgs/IMUCalcData.msg
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# Copyright (c) 2010
# William Morris
# Ivan Dryanovski
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Header header
# angles derived by integration of gyro_outputs, drift compensated by data fusion;
#-90000..+90000 pitch(nick) and roll, 0..360000 yaw; 1000 = 1 degree
int32 angle_nick
int32 angle_roll
int32 angle_yaw
# angular velocities, raw values [16 bit], bias free, in 0.0154 degree/s (=> 64.8 = 1 degree/s)
int32 angvel_nick
int32 angvel_roll
int32 angvel_yaw
# acc-sensor outputs, calibrated: -10000..+10000 = -1g..+1g
int16 acc_x_calib
int16 acc_y_calib
int16 acc_z_calib
# horizontal / vertical accelerations: -10000..+10000 = -1g..+1g
int16 acc_x
int16 acc_y
int16 acc_z
# reference angles derived by accelerations only: -90000..+90000; 1000 = 1 degree
int32 acc_angle_nick
int32 acc_angle_roll
# total acceleration measured (10000 = 1g)
int32 acc_absolute_value
# magnetic field sensors output, offset free and scaled; units not determined,
# as only the direction of the field vector is taken into account
int32 Hx
int32 Hy
int32 Hz
# compass reading: angle reference for angle_yaw: 0..360000; 1000 = 1 degree
int32 mag_heading
# pseudo speed measurements: integrated accelerations, pulled towards zero; units unknown;
# used for short-term position stabilization
int32 speed_x
int32 speed_y
int32 speed_z
# height in mm (after data fusion)
int32 height
# diff. height in mm/s (after data fusion)
int32 dheight
# diff. height measured by the pressure sensor [mm/s]
int32 dheight_reference
# height measured by the pressure sensor [mm]
int32 height_reference
Expanded Definition
Header header
uint32 seq
time stamp
string frame_id
int32 angle_nick
int32 angle_roll
int32 angle_yaw
int32 angvel_nick
int32 angvel_roll
int32 angvel_yaw
int16 acc_x_calib
int16 acc_y_calib
int16 acc_z_calib
int16 acc_x
int16 acc_y
int16 acc_z
int32 acc_angle_nick
int32 acc_angle_roll
int32 acc_absolute_value
int32 Hx
int32 Hy
int32 Hz
int32 mag_heading
int32 speed_x
int32 speed_y
int32 speed_z
int32 height
int32 dheight
int32 dheight_reference
int32 height_reference