RawiMU: fixed units on accel/gyro integral

tridge · tridge · commit e491e00ab208 · 2025-05-01T09:04:23.000+10:00
actual implementations do use an integral
diff --git a/uavcan/equipment/ahrs/1003.RawIMU.uavcan b/uavcan/equipment/ahrs/1003.RawIMU.uavcan
@@ -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).
@@ -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:

Original file line number	Diff line number	Diff line change
`@@ -24,7 +24,7 @@ float32 integration_interval`
`24`	`24`	`# 3. angular velocity around Z (yaw rate)`
`25`	`25`	`#`
`26`	`26`	`float16[3] rate_gyro_latest # Latest sample, radian/second`
`27`		`-float32[3] rate_gyro_integral # Integrated samples, radian/second`
	`27`	`+float32[3] rate_gyro_integral # Integrated samples, radian`
`28`	`28`
`29`	`29`	`#`
`30`	`30`	`# Linear acceleration samples in meter/(second^2).`
`@@ -34,7 +34,7 @@ float32[3] rate_gyro_integral # Integrated samples, radian/second`
`34`	`34`	`# 3. linear acceleration along Z (down positive)`
`35`	`35`	`#`
`36`	`36`	`float16[3] accelerometer_latest # Latest sample, meter/(second^2)`
`37`		`-float32[3] accelerometer_integral # Integrated samples, meter/(second^2)`
	`37`	`+float32[3] accelerometer_integral # Integrated samples, meter/second`
`38`	`38`
`39`	`39`	`#`
`40`	`40`	`# Covariance matrix. The diagonal entries are ordered as follows:`