_SbgEComLogImuLegacy Struct Reference

Structure that stores data for the SBG_ECOM_LOG_IMU_DATA message. More...

#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 provides synchronous IMU measurements aligned to UTC time.
Most SBG Systems INS, except ELLIPSE products, use IMUs with asynchronous measurements.

These measurements are extrapolated to match the EKF processing loop, which can introduce
artificial noise, particularly in high-frequency processing loops (e.g., 200Hz with up to 5ms extrapolation).

Note

This message is not suitable for post-processing due to the introduced noise. For accurate UTC/GPS-timestamped asynchronous IMU measurements, 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 microseconds since the sensor power up.

status

uint16_t _SbgEComLogImuLegacy::status

IMU status bitmask.

accelerometers

float _SbgEComLogImuLegacy::accelerometers[3]

X, Y, Z accelerometer readings in m/s².

gyroscopes

float _SbgEComLogImuLegacy::gyroscopes[3]

X, Y, Z gyroscope readings in rad/s.

temperature

float _SbgEComLogImuLegacy::temperature

Internal temperature in °C.

deltaVelocity

float _SbgEComLogImuLegacy::deltaVelocity[3]

X, Y, Z delta velocity in m/s² (same as accelerometers field).

deltaAngle

float _SbgEComLogImuLegacy::deltaAngle[3]

X, Y, Z delta angle in rad/s (same as gyroscopes field).

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

• src/logs/sbgEComLogImu.h