acassis commented on code in PR #20567: URL: https://github.com/apache/nuttx/pull/20567#discussion_r4232000532
########## include/nuttx/uorb.h: ########## @@ -648,11 +648,23 @@ #define SENSOR_TYPE_CHARGE 65 +/* Inclinometer + * A sensor of this type returns the static inclination (tilt) of the + * device X, Y and Z axes relative to the horizontal plane, derived from + * the gravity vector. Each value is in degrees and signed, in the range Review Comment: no, sensor_rotation holds something different, SENSOR_TYPE_ROTATION_VECTOR use quaternion giving a full 3-DOF attitude relative to East-North-Up. The SCL3300 only measure gravity, so it can't observe heading (rotation around the vertical). This sensor will be used to detect dam structure in a safety monitoring application. The sensors are fixed to the dam structure and must detect very small, slow changes in the tilt of each axis over time.These changes are expected to be in the hundredths of a degree, so the driver must not lose any precision on the way. The SCL3300 resolution is 0.0055°/LSB. On real hardware I measured noise of about 0.006° (standard deviation) in Mode 4 and 0.009° in Mode 3. A quaternion with a made-up heading would add a conversion step in both directions and a source of rounding error, with no benefit for this application! -- This is an automated message from the Apache Git Service. To respond to the message, please log on to GitHub and use the URL above to go to the specific comment. To unsubscribe, e-mail: [email protected] For queries about this service, please contact Infrastructure at: [email protected]
