adding IMU data in AP_DDS library for high frequency raw imu data transmission #26187
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Astik-2002
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Ryanf55
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Feb 18, 2024
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the commit list needs needs a big cleanup |
tridge
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Feb 19, 2024
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note that this will get the 1st IMU, if you want the active IMU then you need to call AP_AHRS::_get_primary_gyro_index(), otherwise if you get a lane change then you will get noisy data |
Ryanf55
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Feb 20, 2024
Ryanf55
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Ryanf55
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Feb 25, 2024
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Getting close! Just a few fixes and it should be good to go.
Here's the data it captured on my system.
---
header:
stamp:
sec: 7
nanosec: 632779000
frame_id: base_link_ned
orientation:
x: 0.9851087927818298
y: 6.668890273431316e-05
z: -1.8647700926521793e-05
w: -0.17193196713924408
orientation_covariance:
- -1.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
angular_velocity:
x: 5.1383547543082386e-05
y: 0.0001419413456460461
z: 5.413950566435233e-05
angular_velocity_covariance:
- -1.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
linear_acceleration:
x: -0.0013561300002038479
y: -0.001497147954069078
z: -9.81856632232666
linear_acceleration_covariance:
- -1.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
---
* Using NED frame
Ryanf55
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Feb 26, 2024
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Looks great. I cleaned up your commits with |
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This code enables imu data transmission between ros2 nodes and AP via DDS. @Ryanf55 please review this and suggest changes.