From 5c2d2978a8fe7a0602f35ad82605a6b40b2cf96b Mon Sep 17 00:00:00 2001 From: MattRoweEAIF <125647690+MattRoweEAIF@users.noreply.github.com> Date: Wed, 17 Jul 2024 12:33:47 +0200 Subject: [PATCH] fixed IMU units (#7960) --- Docs/ref_sensors.md | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/Docs/ref_sensors.md b/Docs/ref_sensors.md index 5e1fd5e48..142798920 100644 --- a/Docs/ref_sensors.md +++ b/Docs/ref_sensors.md @@ -186,10 +186,11 @@ Provides measures that accelerometer, gyroscope and compass would retrieve for t | `timestamp` | double | Simulation time of the measurement in seconds since the beginning of the episode. | | `transform` | [carla.Transform](<../python_api#carlatransform>) | Location and rotation in world coordinates of the sensor at the time of the measurement. | | `accelerometer` | [carla.Vector3D](<../python_api#carlavector3d>) | Measures linear acceleration in `m/s^2`. | -| `gyroscope` | [carla.Vector3D](<../python_api#carlavector3d>) | Measures angular velocity in `rad/sec`. | -| `compass` | float | Orientation in radians. North is `(0.0, -1.0, 0.0)` in UE. | - +| `gyroscope` | [carla.Vector3D](<../python_api#carlavector3d>) | Measures angular velocity in `rad/s`. | +| `compass` | float | Orientation in radians. North is 0 radians. | +!!! note + For the compass, North is 0 radians. East is *pi*/2 radians, South is *pi* radians, West is 3*pi*/2 radians. North is in the direction of decreasing Y in CARLA's global coordinate system. East is in the direction of increasing X. The compass value converted to degrees is equal to 90 - yaw. --- ## Lane invasion detector