inertial_updates: update raw IMU descriptions for clarity
@@ -21,7 +21,8 @@ definitions:
short_desc: Raw IMU data
desc: |
Raw data from the Inertial Measurement Unit, containing accelerometer and
- gyroscope readings.
+ gyroscope readings. The sense of the measurements are to be aligned with
+ the indications on the device itself.
fields:
- tow:
type: u32
@@ -36,22 +37,22 @@ definitions:
Milliseconds since start of GPS week, fractional part
- acc_x:
type: s16
- desc: Acceleration in the body frame X axis
+ desc: Acceleration in the IMU frame X axis
- acc_y:
type: s16
- desc: Acceleration in the body frame Y axis
+ desc: Acceleration in the IMU frame Y axis
- acc_z:
type: s16
- desc: Acceleration in the body frame Z axis
+ desc: Acceleration in the IMU frame Z axis
- gyr_x:
type: s16
- desc: Angular rate around the body frame X axis
+ desc: Angular rate around IMU frame X axis
- gyr_y:
type: s16
- desc: Angular rate around the body frame Y axis
+ desc: Angular rate around IMU frame Y axis
- gyr_z:
type: s16
- desc: Angular rate around the body frame Z axis
+ desc: Angular rate around IMU frame Z axis
- MSG_IMU_AUX:
id: 0x0901
