How an IMU is being read (LSM6DSV16X, external AHRS)
What ArduPilot says:
- IMUN: LSM6DSV16X … sampling N.NkHz
- IMUN: External: … N.NHz
A start-up line for one IMU (numbered from 0) that says how it is sampled. The LSM6DSV16X line gives the sampling mode and the rate in kHz at which that sensor is read. The “External” line says this IMU's data comes from an external AHRS (a separate navigation unit, named in the line) and how many times a second it arrives; at 100 or 200 Hz that is too slow for many aircraft, so the board's own IMU should stay in use as well. Nothing to fix.
Parameters to look at
| Parameter | What it is |
|---|---|
INS_FAST_SAMPLE | Fast sampling mask |
INS_GYRO_RATE | Gyro rate for IMUs with Fast Sampling enabled |
EAHRS_TYPE | AHRS type |
The code that sends it
IMUN: LSM6DSV16X … sampling N.NkHz
libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.cpp AP_InertialSensor_LSM6DSV::get_output_banner() · Open in ArduPilot Copter-4.7.1
IMUN: External: … N.NHz
libraries/AP_InertialSensor/AP_InertialSensor_ExternalAHRS.cpp AP_InertialSensor_ExternalAHRS::get_output_banner() · Open in ArduPilot Copter-4.7.1