navigation.imu_frame_normalizer Namespace Reference

Normalize framed IMU telemetry into the OpenRoadCode vehicle frame. More...

Functions
ImuStateMessage	normalize_imu_to_vehicle (ImuStateMessage message)
	Return IMU telemetry expressed in the canonical ORC vehicle frame.

Detailed Description

Normalize framed IMU telemetry into the OpenRoadCode vehicle frame.

Function Documentation

normalize_imu_to_vehicle()

ImuStateMessage navigation.imu_frame_normalizer.normalize_imu_to_vehicle

(

ImuStateMessage

message

)

Return IMU telemetry expressed in the canonical ORC vehicle frame.

Android device-frame vectors assume a portrait, screen-up phone with the top of the phone pointing toward the vehicle front. The ORC vehicle frame is right-handed: +X forward, +Y left, +Z up.