Table of Contents
Voxl IIM Server
The Voxl IIM Server receives and publishes data from the tdk-iim 46234 and 46230 IMUs on the pipe imu_iim
.
Configuration
The Voxl IIM server uses the configuration file located at: /etc/modalai/voxl-iim-server.conf
. The config file contains the following fields:
bus
integer, default = 1imu_sample_rate_hz
integer (hz), default = 1000imu_baud_rate_hz
integer (baud), default = 921600imu_fsr_gyro
integer (dps), default = 480imu_fsr_accel
integer (g), default = 8
Usage
The server runs as a service in the background which can be started/stopped with systemctl start/stop voxl-iim-server
. To check the satus of the server run voxl-inspect-services
and find the voxl-iim-server
. The data can be viewed by running the command voxl-inspect-imu imu_iim
or by going to the IMUs tab under debug in the portal and selecting the desired IMU imu_iim
.
Published Format
IMU data is published to the pipes in an imu_data_t struct which consists of the following:
struct imu_data_t
:uint32_t magic_number
Set to IMU_IMAGE_MAGIC_NUMBER for frame syncingfloat accl_ms2[3]
XYZ acceleration in m/s^2float gyro_rad[3]
XYZ gyro rotation in rad/sfloat temp_c
temp in C, IMU_INVALID_TEMPERATURE_VALUE if no thermometeruint64_t timestamp_ns
timestamp in nanoseconds, uses system clock_monotonic