FP_A-RAWIMU
Description:
This message contains time, acceleration and angular velocity (raw value, no bias correction, only coordinate transformation applied) in the sensor frame.
Example message:
$FP,RAWIMU,1,2197,126191.777855,-0.199914,0.472851,9.917973,0.023436,0.007723,0.002131*34\r\n
Message fields:
# | Field | Format | Unit | Example | Description |
---|---|---|---|---|---|
1 |
| String | - |
| Message type, always |
2 |
| Numeric | - |
| Message version, always |
3 |
| Numeric | - |
| GPS week number, range 0–9999 |
4 |
| Float (.6) | s |
| GPS time of week, range 0.000–604799.999999 |
5 |
| Float (.6) | m/s2 |
| Raw acceleration in output frame, X component |
6 |
| Float (.6) | m/s2 |
| Raw acceleration in output frame, Y component |
7 |
| Float (.6) | m/s2 |
| Raw acceleration in output frame, Z component |
8 |
| Float (.6) | rad/s |
| Raw angular velocity in output frame, X component |
9 |
| Float (.6) | rad/s |
| Raw angular velocity in output frame, Y component |
10 |
| Float (.6) | rad/s |
| Raw angular velocity in output frame, Z component |