IMU format

IMU log format. More...

IMU log format.

The format for each imu message is:

• for PLAYER_IMU_DATA_STATE (player_imu_data_state_t): -> px (float): X pose -> py (float): Y pose -> pz (float): Z pose -> proll (float): roll angle -> ppitch (float): pitch angle -> pyaw (float): yaw angle
• for PLAYER_IMU_DATA_CALIB (player_imu_data_calib_t): -> accel_x (float): acceleration value for X axis -> accel_y (float): acceleration value for Y axis -> accel_z (float): acceleration value for Z axis -> gyro_x (float): gyroscope value for X axis -> gyro_y (float): gyroscope value for Y axis -> gyro_z (float): gyroscope value for Z axis -> magn_x (float): magnetometer value for X axis -> magn_y (float): magnetometer value for Y axis -> magn_z (float): magnetometer value for Z axis
• for PLAYER_IMU_DATA_QUAT (player_imu_data_quat_t): -> accel_x (float): acceleration value for X axis -> accel_y (float): acceleration value for Y axis -> accel_z (float): acceleration value for Z axis -> gyro_x (float): gyroscope value for X axis -> gyro_y (float): gyroscope value for Y axis -> gyro_z (float): gyroscope value for Z axis -> magn_x (float): magnetometer value for X axis -> magn_y (float): magnetometer value for Y axis -> magn_z (float): magnetometer value for Z axis -> q0, q1, q2, q3 (floats): quaternion values
• for PLAYER_IMU_DATA_EULER (player_imu_data_euler_t): -> accel_x (float): acceleration value for X axis -> accel_y (float): acceleration value for Y axis -> accel_z (float): acceleration value for Z axis -> gyro_x (float): gyroscope value for X axis -> gyro_y (float): gyroscope value for Y axis -> gyro_z (float): gyroscope value for Z axis -> magn_x (float): magnetometer value for X axis -> magn_y (float): magnetometer value for Y axis -> magn_z (float): magnetometer value for Z axis -> proll (float): roll angle -> ppitch (float): pitch angle -> pyaw (float): yaw angle
  • for PLAYER_IMU_DATA_FULLSTATE (player_imu_data_fullstate_t): -> pose_px (float): X pose -> pose_py (float): Y pose -> pose_pz (float): Z pose -> pose_proll (float): roll angle -> pose_ppitch (float): pitch angle -> pose_pyaw (float): yaw angle -> vel_px (float): X velocity -> vel_py (float): Y velocity -> vel_pz (float): Z velocity -> vel_proll (float): roll anglular velocity -> vel_ppitch (float): pitch anglular velocity -> vel_pyaw (float): yaw anglular velocity -> acc_px (float): X acceleration -> acc_py (float): Y acceleration -> acc_pz (float): Z acceleration