github.com/bluenviron/gomavlib/v2@v2.2.1-0.20240308101627-2c07e3da629c/pkg/dialects/common/message_raw_imu.go (about)

     1  //autogenerated:yes
     2  //nolint:revive,misspell,govet,lll
     3  package common
     4  
     5  // The RAW IMU readings for a 9DOF sensor, which is identified by the id (default IMU1). This message should always contain the true raw values without any scaling to allow data capture and system debugging.
     6  type MessageRawImu struct {
     7  	// Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
     8  	TimeUsec uint64
     9  	// X acceleration (raw)
    10  	Xacc int16
    11  	// Y acceleration (raw)
    12  	Yacc int16
    13  	// Z acceleration (raw)
    14  	Zacc int16
    15  	// Angular speed around X axis (raw)
    16  	Xgyro int16
    17  	// Angular speed around Y axis (raw)
    18  	Ygyro int16
    19  	// Angular speed around Z axis (raw)
    20  	Zgyro int16
    21  	// X Magnetic field (raw)
    22  	Xmag int16
    23  	// Y Magnetic field (raw)
    24  	Ymag int16
    25  	// Z Magnetic field (raw)
    26  	Zmag int16
    27  	// Id. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)
    28  	Id uint8 `mavext:"true"`
    29  	// Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).
    30  	Temperature int16 `mavext:"true"`
    31  }
    32  
    33  // GetID implements the message.Message interface.
    34  func (*MessageRawImu) GetID() uint32 {
    35  	return 27
    36  }