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unitreerobotics / unitree_legged_sdk

SDK tools for control robots.
BSD 3-Clause "New" or "Revised" License
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Low Level Access to Sensors Raw Data #70

Closed Kassra-sinaei closed 1 year ago

Kassra-sinaei commented 1 year ago

What is the difference between q and q_raw in Motor_State structure? (The comments and documentation are vague, refer to comm.h line 70-80) Is any kind of filtering applied to the IMU sensor readings (e.g LPF, HPF, or KF) If yes, is it possible to get the raw sensor readings with the SDK?

xyq1223 commented 1 year ago

Hello,the gyroscope and accelerometer in the IMU structure are the raw data, while the quaternion and rpy are obtained by attitude algorithm.All variables with "_ raw " in their name are reserved and their value is 0.