record

Avionics.ImuSample

Calibrated inertial packet in body Forward-Left-Up axes

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
field	`valid`	`Boolean`		True when the sample can be used
field	`fresh`	`Boolean`		True for one estimator tick per new sample
field	`timestamp_s`	`Real`	`(unit = "s")`	End timestamp of the integration interval
field	`angularVelocityBodyFlu_rad_s`	`Real`	`[3](each unit = "rad/s")`
field	`specificForceBodyFlu_m_s2`	`Real`	`[3](each unit = "m/s2")`	Accelerometer specific force; stationary level value is +g on body z
field	`deltaAngleBodyFlu_rad`	`Real`	`[3](each unit = "rad")`	Coning-corrected angle increment over integrationTime_s
field	`deltaVelocityBodyFlu_m_s`	`Real`	`[3](each unit = "m/s")`	Sculling-corrected specific-force increment, expressed in the body frame at the start of integration
field	`deltaPositionBodyFlu_m`	`Real`	`[3](each unit = "m")`	Closed-form position increment expressed in the body frame at the start of integration
field	`deltaQuaternionBodyFlu`	`Real`	`[4](each unit = "1")`	Scalar-first relative rotation from the start body frame to the end body frame
field	`integrationTime_s`	`Real`	`(unit = "s")`	Accumulation interval for delta angle and delta velocity
field	`gyroscopeBiasLinearizationBodyFlu_rad_s`	`Real`	`[3](each unit = "rad/s")`	Gyroscope-bias anchor used to form this preintegral
field	`accelerometerBiasLinearizationBodyFlu_m_s2`	`Real`	`[3](each unit = "m/s2")`	Accelerometer-bias anchor used to form this preintegral
field	`deltaRotationGyroscopeBiasJacobian_s`	`Real`	`[3, 3](each unit = "s")`	Right-local rotation-increment sensitivity to gyroscope bias
field	`deltaVelocityGyroscopeBiasJacobian_m`	`Real`	`[3, 3](each unit = "m")`	Velocity-increment sensitivity to gyroscope bias
field	`deltaVelocityAccelerometerBiasJacobian_s`	`Real`	`[3, 3](each unit = "s")`	Velocity-increment sensitivity to accelerometer bias
field	`deltaPositionGyroscopeBiasJacobian_m_s`	`Real`	`[3, 3](each unit = "m.s")`	Position-increment sensitivity to gyroscope bias
field	`deltaPositionAccelerometerBiasJacobian_s2`	`Real`	`[3, 3](each unit = "s2")`	Position-increment sensitivity to accelerometer bias

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

record ImuSample
    "Calibrated inertial packet in body Forward-Left-Up axes"
    Boolean valid "True when the sample can be used";
    Boolean fresh "True for one estimator tick per new sample";
    Real timestamp_s(unit = "s")
      "End timestamp of the integration interval";
    Real angularVelocityBodyFlu_rad_s[3](each unit = "rad/s");
    Real specificForceBodyFlu_m_s2[3](each unit = "m/s2")
      "Accelerometer specific force; stationary level value is +g on body z";
    Real deltaAngleBodyFlu_rad[3](each unit = "rad")
      "Coning-corrected angle increment over integrationTime_s";
    Real deltaVelocityBodyFlu_m_s[3](each unit = "m/s")
      "Sculling-corrected specific-force increment, expressed in the body frame at the start of integration";
    Real deltaPositionBodyFlu_m[3](each unit = "m")
      "Closed-form position increment expressed in the body frame at the start of integration";
    Real deltaQuaternionBodyFlu[4](each unit = "1")
      "Scalar-first relative rotation from the start body frame to the end body frame";
    Real integrationTime_s(unit = "s")
      "Accumulation interval for delta angle and delta velocity";
    Real gyroscopeBiasLinearizationBodyFlu_rad_s[3](each unit = "rad/s")
      "Gyroscope-bias anchor used to form this preintegral";
    Real accelerometerBiasLinearizationBodyFlu_m_s2[3](each unit = "m/s2")
      "Accelerometer-bias anchor used to form this preintegral";
    Real deltaRotationGyroscopeBiasJacobian_s[3, 3](each unit = "s")
      "Right-local rotation-increment sensitivity to gyroscope bias";
    Real deltaVelocityGyroscopeBiasJacobian_m[3, 3](each unit = "m")
      "Velocity-increment sensitivity to gyroscope bias";
    Real deltaVelocityAccelerometerBiasJacobian_s[3, 3](each unit = "s")
      "Velocity-increment sensitivity to accelerometer bias";
    Real deltaPositionGyroscopeBiasJacobian_m_s[3, 3](each unit = "m.s")
      "Position-increment sensitivity to gyroscope bias";
    Real deltaPositionAccelerometerBiasJacobian_s2[3, 3](each unit = "s2")
      "Position-increment sensitivity to accelerometer bias";
  end ImuSample;