FP_A-IMUBIAS

1

msg_type

String

-

IMUBIAS

Message type, always IMUBIAS for this message

2

msg_version

Numeric

-

1

Message version, always 1 for this version of the IMUBIAS message

3

gps_week

Numeric

-

2180

GPS week number, range 0–9999

4

gps_tow

Float (.6)

s

298591.500000

GPS time of week, range 0.000–604799.999999

5

fusion_imu

Numeric

-

1

Fusion measurement status, see below

6

imu_status

Numeric

-

1

IMU bias status, see below

7

imu_noise

Numeric

-

1

IMU variance status, see below

8

imu_conv

Numeric

-

1

IMU convergence status, see below

9

bias_acc_x

Float (.6)

m/s²

0.022586

Accelerometer bias, X component

10

bias_acc_y

Float (.6)

m/s²

-0.001982

Accelerometer bias, Y component

11

bias_acc_z

Float (.6)

m/s²

0.251289

Accelerometer bias, Z component

12

bias_gyr_x

Float (.6)

rad/s

0.010290

Gyroscope bias, X component

13

bias_gyr_y

Float (.6)

rad/s

0.001684

Gyroscope bias, Y component

14

bias_gyr_z

Float (.6)

rad/s

0.002216

Gyroscope bias, Z component

15

bias_cov_acc_x

Float (.5)

m²/s⁴

0.00001

Accelerometer bias covariance, X component

16

bias_cov_acc_y

Float (.5)

m²/s⁴

0.00001

Accelerometer bias covariance, Y component

17

bias_cov_acc_z

Float (.5)

m²/s⁴

0.00001

Accelerometer bias covariance, Z component

18

bias_cov_gyr_x

Float (.5)

rad²/s²

0.00001

Gyroscope bias covariance, X component

19

bias_cov_gyr_y

Float (.5)

rad²/s²

0.00001

Gyroscope bias covariance, Y component

20

bias_cov_gyr_z

Float (.5)

rad²/s²

0.00001

Gyroscope bias covariance, Z component

null

Info not available

0

Not used

1

Used

2

Degraded

null

Info not available

0

Not converged

1

Warm-started

2

Rough convergence

3

Fine convergence

null

Info not available

0

Reserved

1

Low noise

2

Medium noise

3

High noise

4…7

Reserved

null

Info not available

0

Awaiting Fusion

1

Awaiting IMU measurements

2

Insufficient global measurements

3

Insufficient motion

4

Converging

5…6

Reserved for future use

7

Idle