Add uavcannode accel and gyro publisher #19885
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Cool. Works with ark gps? |
That's what I'm testing with :) |
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Rebased on main |
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Was this tested after the rebase? Otherwise LGTM |
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This PR adds the option to publish raw IMU data from a uavcannodes that include an IMU. To turn on publication on the cannode, set CANNODE_RAWIMU to 1. On the flight controller, set UAVCAN_SUB_IMU to 1.
TODO: Verify uavcan timesync for setting the correct timestamp_sample on the message relative to the flight controllers time. vehicle_imu does not look happy with the timestamps jumping around and then lagging the FC time.