From f0221a57dadd768bc9891aeeb6a504d3e8e8a6a9 Mon Sep 17 00:00:00 2001 From: Helmut Schmidt Date: Wed, 2 Nov 2016 08:42:17 +0100 Subject: gyroscope.h: Improve explanation of rotation rate sign --- sensors-service/api/gyroscope.h | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/sensors-service/api/gyroscope.h b/sensors-service/api/gyroscope.h index f1bcd1e..ba641ae 100644 --- a/sensors-service/api/gyroscope.h +++ b/sensors-service/api/gyroscope.h @@ -197,17 +197,23 @@ typedef struct { uint64_t timestamp; /** Current angular rate measurement around the z/yaw-axis of the gyroscope sensor [degree/s]. * Value range -100 / +100 degree/s. Frequency of at least 5Hz. Preferrably 50Hz. - * A rotation to the left is indicated by a positive sign. + * A rotation to the left is indicated by a positive sign, + * _if_ gyroscope axes are aligned with vehicle axes + * i.e. if all euler angles are zero in TGyroscopeConfiguration. */ float yawRate; /** Current angular rate measurement around the y/pitch-axis of the gyroscope sensor [degree/s]. * Value range -100 / +100 degree/s. Frequency of at least 5Hz. Preferrably 50Hz. - * A rotation front down is indicated by a positive sign. + * A rotation front down is indicated by a positive sign, + * _if_ gyroscope axes are aligned with vehicle axes + * i.e. if all euler angles are zero in TGyroscopeConfiguration. */ float pitchRate; /** Current angular rate measurement around the x/roll-axis of the gyroscope sensor [degree/s]. * Value range -100 / +100 degree/s. Frequency of at least 5Hz. Preferrably 50Hz. - * A rotation right down is indicated by a positive sign. + * A rotation right down is indicated by a positive sign, + * _if_ gyroscope axes are aligned with vehicle axes + * i.e. if all euler angles are zero in TGyroscopeConfiguration. */ float rollRate; /** Temperature reading of the gyroscope sensor. -- cgit v1.2.1