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RawiMU: fixed units on accel/gyro integral #62

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RawiMU: fixed units on accel/gyro integral #62

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4 changes: 2 additions & 2 deletions uavcan/equipment/ahrs/1003.RawIMU.uavcan
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@ float32 integration_interval
# 3. angular velocity around Z (yaw rate)
#
float16[3] rate_gyro_latest # Latest sample, radian/second
float32[3] rate_gyro_integral # Integrated samples, radian/second
float32[3] rate_gyro_integral # Integrated samples, radian

#
# Linear acceleration samples in meter/(second^2).
Expand All @@ -34,7 +34,7 @@ float32[3] rate_gyro_integral # Integrated samples, radian/second
# 3. linear acceleration along Z (down positive)
#
float16[3] accelerometer_latest # Latest sample, meter/(second^2)
float32[3] accelerometer_integral # Integrated samples, meter/(second^2)
float32[3] accelerometer_integral # Integrated samples, meter/second

#
# Covariance matrix. The diagonal entries are ordered as follows:
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