Onur Özkan
f9a61a086f
Validate configuration through its owning schemas and keep board declarations separate from shared F722 resource ownership. Bound USB transitions, isolate transport failures and retain restart-only activation. Migrate navigation and flight consumers with the sensor and schema contracts. Require explicit installation data and synchronous output authority; board motor outputs remain inhibited. Validation: assembled-prefix host tests, strict Clippy, platform/USB tests and both ARM release builds. Final-source coverage and scoped Miri/Kani evidence are retained separately from hardware qualification.
15 lines
920 B
XML
15 lines
920 B
XML
<?xml version="1.0"?>
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<mavlink>
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<version>3</version>
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<dialect>0</dialect>
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<messages>
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<message id="51028" name="IMU">
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<description>Body-frame inertial observation. Payload offsets are time_us 0, angular_rate 8, acceleration 20 and temperature 26. Payload length is 28 bytes, extra CRC 22.</description>
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<field type="uint64_t" name="time_us">Flight-controller monotonic acquisition time in microseconds.</field>
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<field type="int16_t[3]" name="acceleration_milligravity">Body-frame acceleration in milligravity.</field>
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<field type="int32_t[3]" name="angular_rate_milliradians_per_second">Body-frame angular rate in milliradians per second. Preserves the full MPU6000 plus or minus 2000 degrees per second decoded range.</field>
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<field type="int16_t" name="temperature_centidegrees_celsius">Sensor temperature in centidegrees Celsius.</field>
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</message>
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</messages>
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</mavlink>
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