Method _aligned_imu_callback

tinynav/core/perception_node.py:217–218

(self, imu_msg)

            self.accel_readings.append(imu_msg.linear_acceleration)

        # if the timestamp jump is too large, it means the IMU is not working properly
        if self.imu_last_received_timestamp is not None and current_timestamp - self.imu_last_received_timestamp > 0.1:
            delta_timestamp = current_timestamp - self.imu_last_received_timestamp
            self.get_logger().warning(f"IMU timestamp jump {delta_timestamp} s is too large, it means the IMU is not working properly")
        self.imu_last_received_timestamp = current_timestamp