Sensor parameters

NAME

DESCRIPTION

SENSOR_OK

1 if SENSOR_LIMITS, ENV_VIBRATION, ENV_TEMPERATURE and SENSOR_HEALTH is 1.

SENSOR_HEALTH

0 if any of the follow occurs:

• 1. valid data has not been received within 100 ms.

• 2. accelerometer vector length is 1 g +/- 1.0 g within 500 ms and 1 g +/- 0.4 g within 60 s.

This error usually means a malfunctioning sensor which needs repair or replacement if error does not disappear after reboot.

SENSOR_LIMITS

0 if any of the gyroscopes or accelerometers has been saturated. The SENSOR_LIMITS is returned to 1 after 60 s after all sensors are within range again.

ENV_VIBRATION

1 if the noise variance of the accelerometer length vector is less than 0.5 g with a window duration of 3 s. Move the MRU to a location with less vibration for increased performance if this status bit is 0.

ENV_TEMPERATURE

1 if the sensor temperature is in the range -40 to 85 degrees Celsius.