frc971/wpilib/imu.fbs

namespace frc971;

// Values returned from an IMU.
// Published on ".frc971.imu_values"
table IMUValues {
  // Gyro readings in radians/second.
  // Positive is clockwise looking at the connector.
  gyro_x:float;
  // Positive is clockwise looking at the right side (from the connector).
  gyro_y:float;
  // Positive is counterclockwise looking at the top.
  gyro_z:float;

  // Accelerometer readings in Gs.
  // Positive is up.
  accelerometer_x:float;
  // Positive is away from the right side (from the connector).
  accelerometer_y:float;
  // Positive is away from the connector.
  accelerometer_z:float;

  // Magnetometer readings in gauss.
  // Positive is up.
  magnetometer_x:float;
  // Positive is away from the right side (from the connector).
  magnetometer_y:float;
  // Positive is away from the connector.
  magnetometer_z:float;

  // Barometer readings in pascals.
  barometer:float;

  // Temperature readings in degrees Celsius.
  temperature:float;

  // FPGA timestamp when the values were captured.
  fpga_timestamp:double;
  // CLOCK_MONOTONIC time in nanoseconds when the values were captured.
  monotonic_timestamp_ns:long;
}

root_type IMUValues;