_SbgEComLogImuLegacy Struct Reference

#include <sbgEComLogImu.h>

Data Fields
uint32_t	timeStamp
uint16_t	status
float	accelerometers [3]
float	gyroscopes [3]
float	temperature
float	deltaVelocity [3]
float	deltaAngle [3]

Detailed Description

Structure that stores data for the SBG_ECOM_LOG_IMU_DATA message.

This message returns synchronous IMU measurements that are aligned to UTC time.

All SBG Systems INS, except ELLIPSE products, use an IMU that provides asynchronous measurements. The INS has to extrapolate the IMU measurements to the current EKF processing loop.

For a 200Hz processing loop, the extrapolation can be as high as 5ms. The extrapolation process introduces artificial noise in the measurements.

This message is thus not suitable for post processing for example.

If you would like IMU measurements correctly time stamped to UTC/GPS time but as output by the IMU (asynchronously), please use SBG_ECOM_LOG_IMU_SHORT

WARNING: This message is not recommended for new designs and will be deprecated in sbgECom 5.x

Field Documentation

timeStamp

uint32_t _SbgEComLogImuLegacy::timeStamp

Time in us since the sensor power up.

status

uint16_t _SbgEComLogImuLegacy::status

IMU status bitmask.

accelerometers

float _SbgEComLogImuLegacy::accelerometers[3]

X, Y, Z accelerometers in m.s^-2.

gyroscopes

float _SbgEComLogImuLegacy::gyroscopes[3]

X, Y, Z gyroscopes in rad.s^-1.

temperature

float _SbgEComLogImuLegacy::temperature

Internal temperature in °C.

deltaVelocity

float _SbgEComLogImuLegacy::deltaVelocity[3]

X, Y, Z delta velocity in m.s^-2. (Exact same value as accelerometers field)

deltaAngle

float _SbgEComLogImuLegacy::deltaAngle[3]

X, Y, Z delta angle in rad.s^-1. (Exact same value as gyroscopes field)

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The documentation for this struct was generated from the following file:

• src/logs/sbgEComLogImu.h