FP_A-CORRIMU

The updated version '2' of this message is available from the firmware release 2.123.6 onwards.

Description:

This message contains time, acceleration, angular velocity, IMU bias status (coordinate transformation and bias correction applied), in the sensor frame.

Example message:

CODE

$FP,CORRIMU,2,2368,228734.073983,-0.102908,-0.096532,9.732782,0.002208,0.001499,-0.001206,1,1,*54\r\n

Message fields:

#	Field	Format	Unit	Example	Description
1	`msg_type`	String	-	`CORRIMU`	Message type, always `RAWIMU` for this message
2	`msg_version`	Numeric	-	`2`	Message version, always `2` for this version of the `CORRIMU` message
3	`gps_week`	Numeric	-	`2197`	GPS week number, range 0–9999
4	`gps_tow`	Float (.6)	s	`126191.777855`	GPS time of week, range 0.000–604799.999
5	`acc_x`	Float (.6)	m/s²	`-0.195224`	Raw acceleration in output frame, X component
6	`acc_y`	Float (.6)	m/s²	`0.393969`	Raw acceleration in output frame, Y component
7	`acc_z`	Float (.6)	m/s²	`9.869998`	Raw acceleration in output frame, Z component
8	`rot_x`	Float (.6)	rad/s	`0.013342`	Raw angular velocity in output frame, X component
9	`rot_y`	Float (.6)	rad/s	`-0.004620`	Raw angular velocity in output frame, Y component
10	`rot_z`	Float (.6)	rad/s	`-0.000728`	Raw angular velocity in output frame, Z component
11	`bias_comp`	Numeric	-	`1`	Shows if bias is compensated. `0` (not comp.) `1` (comp)
12	`imu_status`	Numeric	-	`1`	IMU bias status, see see FP_A-ODOMSTATUS.imu_status
13	`reserved0`	-	-		Reserved for future or internal use, ignore

FP_A-CORRIMU Version 1 before 2.123.6

Example message:

CODE

$FP,CORRIMU,1,2197,126191.777855,-0.195224,0.393969,9.869998,0.013342,-0.004620,-0.000728*7D\r\n

Message fields:

#	Field	Format	Unit	Example	Description
1	`msg_type`	String	-	`CORRIMU`	Message type, always `RAWIMU` for this message
2	`msg_version`	Numeric	-	`1`	Message version, always `1` for this version of the `CORRIMU` message
3	`gps_week`	Numeric	-	`2197`	GPS week number, range 0–9999
4	`gps_tow`	Float (.6)	s	`126191.777855`	GPS time of week, range 0.000–604799.999
5	`acc_x`	Float (.6)	m/s²	`-0.195224`	Raw acceleration in output frame, X component
6	`acc_y`	Float (.6)	m/s²	`0.393969`	Raw acceleration in output frame, Y component
7	`acc_z`	Float (.6)	m/s²	`9.869998`	Raw acceleration in output frame, Z component
8	`rot_x`	Float (.6)	rad/s	`0.013342`	Raw angular velocity in output frame, X component
9	`rot_y`	Float (.6)	rad/s	`-0.004620`	Raw angular velocity in output frame, Y component
10	`rot_z`	Float (.6)	rad/s	`-0.000728`	Raw angular velocity in output frame, Z component