Checklist v3: IMU calibration (level twice, straight pull-aways and stops); yukart/raw/imu

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
2026-10-14 13:28:40 +09:00
parent 4cbac36fbe
commit b52a7dcedb
3 changed files with 83 additions and 5 deletions
@@ -36,6 +36,13 @@
      "publisher": "imu",
      "description": "The IMU (WT61) in the car's frame: attitude, gravity-free acceleration, yaw rate; one topic per signal, named exactly as in signals.json (source=imu)."
    },
+    "yukart/raw/imu": {
+      "payload": "json",
+      "retained": false,
+      "rate": "10-100/s",
+      "publisher": "imu",
+      "description": "Every IMU sample, raw: module axes, not calibrated. {mono (ns, CLOCK_MONOTONIC), t (µs, realtime), accel [x,y,z] g, gyro [x,y,z] deg/s, angle [roll,pitch,yaw] deg (the module's own)}. Not an envelope; for the recorder (imu.ndjson), so a later calibration can reprocess a session. Displays use yukart/imu/<signal>."
+    },
    "yukart/host/<signal>": {
      "payload": "envelope",
      "retained": true,