Clamps Dictionary
ssensor-data
Structure
Decoded sensor data from a single ESP-NOW data packet. All floating-point fields are single-float. Quaternion is unit length with w first; position and velocity are in world frame (gravity-compensated, rotated by the Mahony filter quaternion).
Arguments
:sensor-id |
Sensor ID byte (1..254) from the packet header. |
:sensor-battery |
Battery level 0..127 mapping 3.0..4.2 V. |
:sensor-acc-x |
Accelerometer X in g (world frame). |
:sensor-acc-y |
Accelerometer Y in g (world frame). |
:sensor-acc-z |
Accelerometer Z in g (world frame). |
:sensor-gyro-x |
Gyroscope X in deg/s (sensor frame). |
:sensor-gyro-y |
Gyroscope Y in deg/s (sensor frame). |
:sensor-gyro-z |
Gyroscope Z in deg/s (sensor frame). |
:sensor-mag-x |
Magnetometer X in gauss (sensor frame). |
:sensor-mag-y |
Magnetometer Y in gauss (sensor frame). |
:sensor-mag-z |
Magnetometer Z in gauss (sensor frame). |
:sensor-quat-w |
Orientation quaternion W (scalar part). |
:sensor-quat-x |
Orientation quaternion X. |
:sensor-quat-y |
Orientation quaternion Y. |
:sensor-quat-z |
Orientation quaternion Z. |
:sensor-euler-x |
Roll angle normalised to [0..1]. |
:sensor-euler-y |
Pitch angle normalised to [0..1]. |
:sensor-euler-z |
Yaw (heading) angle normalised to [0..1]. |
:sensor-vel-x |
Velocity X in m/s. |
:sensor-vel-y |
Velocity Y in m/s. |
:sensor-vel-z |
Velocity Z in m/s. |