Add compensated IMU message [AP-1475] #1441
Conversation
spec/yaml/swiftnav/sbp/imu.yaml
Outdated
| desc: Contains the applied compensation parameters and time synchronization mode | ||
| fields: | ||
| - 2-15: | ||
| desc: Reserved |
There was a problem hiding this comment.
I'd add flags for the following:
- gravity compensated
- earth rate compensated
- coriolis effect compensated
- accelerometer errors compensated
- gyroscope errors compensated
- maybe: transformed to VRP
spec/yaml/swiftnav/sbp/imu.yaml
Outdated
| - 3: Reference epoch is last PPS | ||
| - acc_comp_x: | ||
| type: s32 | ||
| units: 1e-2 m/s^2 |
There was a problem hiding this comment.
If using 32 bits, resolution could well be on the order of 1e-6 m/s^2
spec/yaml/swiftnav/sbp/imu.yaml
Outdated
| desc: Compensated acceleration Z axis | ||
| - gyr_comp_x: | ||
| type: s32 | ||
| units: 1e-3 deg/s |
There was a problem hiding this comment.
With 32 bits, much better resolution should be possible, e.g. 0.000003 deg/s in case we'd want to deal with much better IMUs
spec/yaml/swiftnav/sbp/imu.yaml
Outdated
| desc: > | ||
| Data from the Inertial Measurement Unit, containing accelerometer and | ||
| gyroscope readings compensated for estimated errors and constant | ||
| physical effects. The output is valid for the center of navigation. |
There was a problem hiding this comment.
For being unambiguous, let's specify object frame, reference frame, and resolving frame. How about this?
'The output is valid for inertially referenced center of navigation(imu body frame) represented in vehicle body frame'
There was a problem hiding this comment.
corrected!
If we ever need to support a transformation to VRP, we will use one of the reserved flags and adjust this description.
ismolyakov
force-pushed
the
ivan/add-msg-comp-imu
branch
from
bd660b8
to
70b24cb
Compare
|
Description
@swift-nav/algint-team
API compatibility
Does this change introduce a API compatibility risk?
API compatibility plan
If the above is "Yes", please detail the compatibility (or migration) plan:
JIRA Reference
https://swift-nav.atlassian.net/browse/BOARD-XXXX