table SimInput
Simulation input root passed from a simulator into a controller under test.
| Name | Type | Unit / Scale | Notes |
|---|---|---|---|
gyro_flu_rad_s | synapse.types.Vec3f | FLU body frame (x forward, y left, z up), radians per second | Simulated body angular velocity in the FLU frame. |
accel_flu_m_s2 | synapse.types.Vec3f | FLU body frame (x forward, y left, z up), meters per second squared | Simulated body linear acceleration in the FLU frame. |
rc | synapse.topic.RadioControlData | Simulated raw receiver input sample. | |
rc_link_quality_pct | ubyte | percent | Simulated receiver link quality from 0 to 100. |
rc_valid | bool | True when rc contains a valid receiver sample. | |
imu_valid | bool | True when gyro and accel contain valid inertial data. | |
target_boot_time_us | ulong | microseconds | Target controller boot time for deterministic simulation stepping. |