The initial IMU measurements telemetry sample used to be a compact number array format (Javascript Array) converted from a Yarp bottle (bottle.toArray()). Because of some limitations on the Open MCT framework side, we had to expand and explicit the fields of the composite measurements. Refer to https://github.com/dic-iit/element_software-engineering/issues/42#issuecomment-871062612 for more details, and to the commit comments). We defined the IMU measurement sample as a JSON object with nested properties lists:
We gathered all the sensor measurements (orientation, accelerometer, gyroscope) into a single telemetry sample in order to have them associated to a single timestamp.
The initial IMU measurements telemetry sample used to be a compact number array format (Javascript
Array
) converted from a Yarp bottle (bottle.toArray()
). Because of some limitations on the Open MCT framework side, we had to expand and explicit the fields of the composite measurements. Refer to https://github.com/dic-iit/element_software-engineering/issues/42#issuecomment-871062612 for more details, and to the commit comments). We defined the IMU measurement sample as a JSON object with nested properties lists:We gathered all the sensor measurements (orientation, accelerometer, gyroscope) into a single telemetry sample in order to have them associated to a single timestamp.