Raw RVC frame data in integer fixed-point format. More...

#include <bno08x.hpp>

Public Attributes
uint8_t	index
	Frame sequence index (0-255)

int16_t	yaw
	Yaw angle (units: 0.01 degrees)

int16_t	pitch
	Pitch angle (units: 0.01 degrees)

int16_t	roll
	Roll angle (units: 0.01 degrees)

int16_t	acc_x
	X linear acceleration (units: 0.001 g)

int16_t	acc_y
	Y linear acceleration (units: 0.001 g)

int16_t	acc_z
	Z linear acceleration (units: 0.001 g)

uint8_t	mi
	Motion intent (0=unknown, 1=stationary, 3=in motion)

uint8_t	mr
	Motion request (0=no constraint, 1=stay stationary)

uint64_t	timestamp_uS
	Timestamp in microseconds (set by the driver)

Detailed Description

Raw RVC frame data in integer fixed-point format.

Fields are extracted directly from the 19-byte RVC UART frame. Yaw/pitch/roll are in 0.01-degree units; acceleration in 0.001 g units. Use BNO085::decodeRvc() or the RvcCallback to get floating-point values.

Member Data Documentation

◆ acc_x

int16_t RvcSensorEvent::acc_x

X linear acceleration (units: 0.001 g)

◆ acc_y

int16_t RvcSensorEvent::acc_y

Y linear acceleration (units: 0.001 g)

◆ acc_z

int16_t RvcSensorEvent::acc_z

Z linear acceleration (units: 0.001 g)

◆ index

uint8_t RvcSensorEvent::index

Frame sequence index (0-255)

◆ mi

uint8_t RvcSensorEvent::mi

Motion intent (0=unknown, 1=stationary, 3=in motion)

◆ mr

uint8_t RvcSensorEvent::mr

Motion request (0=no constraint, 1=stay stationary)

◆ pitch

int16_t RvcSensorEvent::pitch

Pitch angle (units: 0.01 degrees)

◆ roll

int16_t RvcSensorEvent::roll

Roll angle (units: 0.01 degrees)

◆ timestamp_uS

uint64_t RvcSensorEvent::timestamp_uS

Timestamp in microseconds (set by the driver)

◆ yaw

int16_t RvcSensorEvent::yaw

Yaw angle (units: 0.01 degrees)

The documentation for this struct was generated from the following file:

inc/bno08x.hpp

Public Attributes