IMU (100 Hz, 8 byte)
Configuration file fields
This section is autogenerated from the Rule Schema.
IMU orientation (10 ms) output.imu
State output.imu.state
Type |
Default |
Options |
|---|---|---|
integer |
1 |
Disable: |
ID Format output.imu.id_format
ID format of the message
Type |
Default |
Options |
|---|---|---|
integer |
0 |
Standard (11-bit): |
Message ID (hex) output.imu.id
ID of the message in hex. Example: 00435354.
Type |
Default |
|---|---|
string |
01 |
Trigger method output.imu.trigger
Transmission trigger method. Push: Signal is periodically transmitted. Poll: Signal is transmitted on request
Type |
Default |
Options |
|---|---|---|
integer |
0 |
Push: |
IMU coordinate system
The coordinate system defines the axis used by the IMU sensors.
The IMU coordinate system (right-handed)
Frame layout
The frame layout is defined in the CANmod.gps DBC file.
The IMU frame contains 3 x acceleration + 3 x angular rate.
Note
The IMU output results are rotated according to the angles entered in IMU mount alignment
ImuValid
The ImuValid signal can take one of the following values:
0: Invalid
1: Valid
AccelerationX, AccelerationY, AccelerationZ
AccelerationX, AccelerationY, AccelerationZ express linear acceleration in\(\texttt{ m/s}^2\) along the device X, Y and Z axis respectively.
Note
The acceleration measurements include a constant component from gravity. With the device at standstill, the gravity vector becomes \([x, y, z]^T \approx [0, 0, 9.82]^T\) [1].
AngularRateX, AngularRateY, AngularRateZ
AngularRateX, AngularRateY, AngularRateZ express the angular rate in\(\texttt{ deg/s}\) around the device X, Y and Z axis respectively.
Note
Note that AccelerationX, AccelerationY, AccelerationZ express linear acceleration while AngularRateX, AngularRateY, AngularRateZ express angular rotational speed.