struct InertialSampleData
fbs/sensors.fbs / Source schema
Raw inertial and environmental sample from an IMU-class sensor. This is a raw-layer topic: values are sensor-native measurements in the body FLU mounting frame after driver axis alignment; no estimator products belong here. Sensors updating at different rates set the matching flags bits.
FlatBuffers root table: InertialSample
| Name | Type | Unit / Scale | Notes |
|---|---|---|---|
timestamp_us | ulong | microseconds | Sample timestamp in monotonic boot time. |
accel_flu_m_s2 | synapse.types.Vec3f | FLU body frame (x forward, y left, z up), meters per second squared | Linear acceleration in the body FLU frame. |
gyro_flu_rad_s | synapse.types.Vec3f | FLU body frame (x forward, y left, z up), radians per second | Angular rate in the body FLU frame. |
mag_flu_tesla | synapse.types.Vec3f | FLU body frame (x forward, y left, z up), tesla | Raw magnetic field in the body FLU frame, not declination corrected. |
absolute_pressure_hpa | float | hectopascals | Static pressure from the sensor barometer. |
temperature_c | float | degrees Celsius | Sensor temperature in degrees Celsius. |
flags | ubyte | bitmask | Bitmask of InertialFieldFlags bits updated in this sample. |
id | ubyte | Sensor instance identifier; also the instance segment of the Zenoh key. |