Telemetry

Telemetry data structures produced by StreamParser.

class omnitiles.telemetry.ImuSample(ax, ay, az, gx, gy, gz)[source]

Bases: object

Inertial measurement sample from the on-tile IMU.

Parameters:

  • ax (float)

  • ay (float)

  • az (float)

  • gx (float)

  • gy (float)

  • gz (float)

ax: float

Linear acceleration X in m/s^2.

ay: float

Linear acceleration Y in m/s^2.

az: float

Linear acceleration Z in m/s^2.

gx: float

Angular velocity X in rad/s.

gy: float

Angular velocity Y in rad/s.

gz: float

Angular velocity Z in rad/s.

class omnitiles.telemetry.Telemetry(timestamp, m1_pos_adc, m2_pos_adc, m1_pos_mm, m2_pos_mm, m1_adcs=(), m2_adcs=(), uwb_mm=None, tof_mm=None, imu=None, raw=b'')[source]

Bases: object

A parsed telemetry frame from one tile.

Fields that weren’t present in the source packet are None. Sentinel values (0xFFFF) for unavailable UWB ranges and ToF readings are normalized to None as well.

Parameters:

  • timestamp (float)

  • m1_pos_adc (int)

  • m2_pos_adc (int)

  • m1_pos_mm (float)

  • m2_pos_mm (float)

  • m1_adcs (tuple[int, ...])

  • m2_adcs (tuple[int, ...])

  • uwb_mm (tuple[int | None, int | None, int | None, int | None] | None)

  • tof_mm (int | None)

  • imu (ImuSample | None)

  • raw (bytes)

timestamp: float

Host monotonic timestamp (seconds) when this frame was parsed.

m1_pos_adc: int

Raw 12-bit ADC reading for the M1 feedback potentiometer.

m2_pos_adc: int

Raw 12-bit ADC reading for the M2 feedback potentiometer.

m1_pos_mm: float

M1 position estimate in millimeters (derived from m1_pos_adc).

m2_pos_mm: float

M2 position estimate in millimeters (derived from m2_pos_adc).

m1_adcs: tuple[int, ...]

Raw ADC readings for all M1 pots (up to 4). Empty if not reported.

m2_adcs: tuple[int, ...]

Raw ADC readings for all M2 pots (up to 2). Empty if not reported.

uwb_mm: tuple[int | None, int | None, int | None, int | None] | None

Distances to anchors 0/1/2/3 in millimeters, or None if not reported. Individual entries are None when the corresponding range was invalid.

tof_mm: int | None

Time-of-flight sensor reading in millimeters, or None.

imu: ImuSample | None

IMU sample, or None if the packet didn’t include IMU data.

raw: bytes

The underlying packet bytes (for debugging).