sensor_imu_format

Data payload format for data of type SENSOR_FORMAT_IMU

Synopsis:

#include <sensor/sensor_gps_imu.h>

typedef struct sensor_imu_format_t {
    int32_t orientation[3];
    uint32_t orientation_time_offset;
    int32_t acceleration[3];
    double rate_of_turn[3];
    double magnetic_field[3];
    uint32_t time_offset;
    uint32_t time_accuracy;
    uint16_t ndop;
    uint16_t edop;
    uint32_t heading_accuracy;
} sensor_imu_format_t;

Data:

int32_t orientation[3]: Orientation is the three Euler angles, in hundreds of degrees, about X (roll), Y (pitch), and Z (yaw) axes; the coordinate system is ENU.
MAX_INT32 indicates that the value is currently unavailable.
uint32_t orientation_time_offset: Offset from the timestamp in sensor_buffer_t to apply for the orientation field only.
The time is provided in microseconds and may be zero if the orientation is in sync with the IMU data.
int32_t acceleration[3]: Acceleration in the X, Y, and Z planes, in millimeters per second squared (mm/s²).
double rate_of_turn[3]: Rate of turn about the X, Y, and Z axes, in radians per second (rad/s).
double magnetic_field[3]: Magnetic field data, in arbitrary units.
uint32_t time_offset: Offset from the timestamp in sensor_buffer_t to apply for this data point.
uint32_t time_accuracy: Time accuracy estimate, in nanoseconds (ns).
uint16_t ndop: Northing Degree of Precision.
uint16_t edop: Easting Degree of Precision.
uint32_t heading_accuracy: Heading accuracy estimate, in degrees.

Library:

libsensor

Description:

The data payload in sensor_buffer_t data is an array of these structures.