Vehicleimu

VehicleImu (UORB message)

IMU readings in SI-unit form.

source file

```c

IMU readings in SI-unit form.

uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample

uint32 accel_device_id # Accelerometer unique device ID for the sensor that does not change between power cycles uint32 gyro_device_id # Gyroscope unique device ID for the sensor that does not change between power cycles

float32[3] delta_angle # delta angle about the FRD body frame XYZ-axis in rad over the integration time frame (delta_angle_dt) float32[3] delta_velocity # delta velocity in the FRD body frame XYZ-axis in m/s over the integration time frame (delta_velocity_dt)

uint16 delta_angle_dt # integration period in microseconds uint16 delta_velocity_dt # integration period in microseconds

uint8 CLIPPING_X = 1 uint8 CLIPPING_Y = 2 uint8 CLIPPING_Z = 4

uint8 delta_angle_clipping # bitfield indicating if there was any gyro clipping (per axis) during the integration time frame uint8 delta_velocity_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame

uint8 accel_calibration_count # Calibration changed counter. Monotonically increases whenever accelermeter calibration changes. uint8 gyro_calibration_count # Calibration changed counter. Monotonically increases whenever rate gyro calibration changes.

```