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gyroscope mount matrix

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Denis 2023-11-18 17:47:10 +01:00
parent 3afb257ec3
commit 68f155db18
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7 changed files with 57 additions and 49 deletions
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23
imu_message.h
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@ -5,24 +5,17 @@
typedef struct imu_message {
struct timeval read_time;
double gyro_x_in_rad_s;
long gyro_x_raw;
double gyro_y_in_rad_s;
int16_t gyro_y_raw;
double gyro_z_in_rad_s;
int16_t gyro_z_raw;
long gyro_y_raw;
long gyro_z_raw;
double accel_x_in_m2s;
int16_t accel_x_raw;
double accel_y_in_m2s;
int16_t accel_y_raw;
double accel_z_in_m2s;
int16_t accel_z_raw;
long accel_x_raw;
long accel_y_raw;
long accel_z_raw;
int16_t temp_raw;
double temp_in_k;
double gyro_rad_s[3]; // | x, y, z| right-hand-rules -- in rad/s
double accel_m2s[3]; // | x, y, z| positive: right, up, towards player -- in m/s^2
} imu_message_t;