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Split schema into core and sub schemas
$schema is now required, otherwise still compatible with draft-01. Change-Id: Ie3f8e33485cae97938e4b0d0c03faabaf406eac8
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Manuel Stahl
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Oct 22, 2024
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,144 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "$id": "https://fraunhofer-iis.github.io/ogrp/next/imu.json", | ||
| "title": "OGRP IMU schema", | ||
| "description": "Measurements of an IMU", | ||
| "type": "object", | ||
| "additionalProperties": true, | ||
| "properties": { | ||
| "$schema": { | ||
| "const": "https://fraunhofer-iis.github.io/ogrp/next/imu.json" | ||
| }, | ||
| "acceleration": { | ||
| "type": "object", | ||
| "properties": { | ||
| "x": { | ||
| "type": "number", | ||
| "description": "(m/s^2)" | ||
| }, | ||
| "y": { | ||
| "type": "number", | ||
| "description": "(m/s^2)" | ||
| }, | ||
| "z": { | ||
| "type": "number", | ||
| "description": "(m/s^2)" | ||
| } | ||
| }, | ||
| "description": "The acceleration vector as reported from the IMU" | ||
| }, | ||
| "angular_rate": { | ||
| "type": "object", | ||
| "properties": { | ||
| "x": { | ||
| "type": "number", | ||
| "description": "(rad/s)" | ||
| }, | ||
| "y": { | ||
| "type": "number", | ||
| "description": "(rad/s)" | ||
| }, | ||
| "z": { | ||
| "type": "number", | ||
| "description": "(rad/s)" | ||
| } | ||
| }, | ||
| "description": "The angular rate as reported from the IMU" | ||
| }, | ||
| "delta_theta": { | ||
| "type": "object", | ||
| "properties": { | ||
| "x": { | ||
| "type": "number", | ||
| "description": "(rad)" | ||
| }, | ||
| "y": { | ||
| "type": "number", | ||
| "description": "(rad)" | ||
| }, | ||
| "z": { | ||
| "type": "number", | ||
| "description": "(rad)" | ||
| } | ||
| }, | ||
| "description": "Integral of angular rate over measurement interval" | ||
| }, | ||
| "delta_velocity": { | ||
| "type": "object", | ||
| "properties": { | ||
| "x": { | ||
| "type": "number", | ||
| "description": "(m/s)" | ||
| }, | ||
| "y": { | ||
| "type": "number", | ||
| "description": "(m/s)" | ||
| }, | ||
| "z": { | ||
| "type": "number", | ||
| "description": "(m/s)" | ||
| } | ||
| }, | ||
| "description": "Integral of acceleration over measurement interval" | ||
| }, | ||
| "magnetic_field": { | ||
| "type": "object", | ||
| "properties": { | ||
| "x": { | ||
| "type": "number", | ||
| "description": "(Gs)" | ||
| }, | ||
| "y": { | ||
| "type": "number", | ||
| "description": "(Gs)" | ||
| }, | ||
| "z": { | ||
| "type": "number", | ||
| "description": "(Gs)" | ||
| } | ||
| }, | ||
| "description": "The magnetic field as reported from the IMU" | ||
| }, | ||
| "gps_correlation_timestamp": { | ||
| "type": "object", | ||
| "properties": { | ||
| "gps_tow": { | ||
| "type": "number", | ||
| "description": "GPS time of week (s)" | ||
| }, | ||
| "gps_week_number": { | ||
| "type": "number", | ||
| "description": "GPS week number" | ||
| }, | ||
| "pps_beacon_good": { | ||
| "type": "boolean", | ||
| "description": "If set, GNSS PPS is present" | ||
| }, | ||
| "gps_time_refresh": { | ||
| "type": "number", | ||
| "description": "PPS pulse counter" | ||
| }, | ||
| "gps_time_initialized": { | ||
| "type": "boolean", | ||
| "description": "Is set once upon the first valid GPS time record" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "gnss_tow", | ||
| "gnss_week_number", | ||
| "pps_beacon_good", | ||
| "gps_time_refresh", | ||
| "gps_time_initialized" | ||
| ] | ||
| }, | ||
| "pressure": { | ||
| "type": "number", | ||
| "description": "Pressure (hPa)" | ||
| }, | ||
| "measurement_interval": { | ||
| "type": "number", | ||
| "title": "Time since last measurement", | ||
| "description": "(s)" | ||
| } | ||
| } | ||
| } |
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