VOXL Inspect IMU

voxl-inspect-imu is a tool to check the imu measurements of the imus on voxl. It requires that VOXL IMU Server is running in the background, which can be checked with VOXL Inspect Services.

Arguments

Optional Pipe

IMU: Which IMU to display data from. If omitted, this defaults to imu_apps. Available imus can be seen by typing voxl-inspect-imu {TAB} {TAB}. On VOXL 2 this is typically imu_apps, on VOXL 1 your options are imu0 or imu1.

Optional

Parameter	Description	Example
-a –all	Show all imu data, not scaled down for screen performance (this will print lines at ~1khz)	`voxl-inspect-imu imu_apps -a`
-c –csv	Print imu samples as csv for analysis	`voxl-inspect-imu -c`
-d –debug	Enable libmodal-pipe debug mode	`voxl-inspect-imu -d`
-h –help	Print help message	`voxl-inspect-imu --help`
-j –json	Output results as JSON	`voxl-inspect-imu -j`
-k –json_human	Format JSON output as human-readable	`voxl-inspect-imu -k`
-n –newline	Print each sample on a new line instead of updating the current output line	`voxl-inspect-imu imu_apps -n`
-t –time {sec}	Wait time in seconds between printing samples	`voxl-inspect-imu -t 0.5`
-T –test	Get a single sample	`voxl-inspect-imu -T`

Unlike voxl-inspect-cam, lowercase -t here sets the print interval, NOT test mode. Use uppercase -T for a single-sample test.

Example Output

voxl2:/$ voxl-inspect-imu imu_apps

Acc in m/s^2, gyro in rad/s, temp in C

delay(ms)|gravity| accl_x accl_y accl_z| gyro_x  gyro_y  gyro_z |  Temp |Samples|
     1.2 |  9.63 |  0.12  -9.57   1.08 |  0.010   0.020   0.000 | 35.03 |   5   | 
^C
received SIGINT Ctrl-C

closing and exiting
voxl2:/$ 

Source

Source code available on Gitlab.