NOV_B-RAWIMU
Description:
This message contains time and the IMU’s acceleration and angular velocity (raw value, no bias correction, only coordinate transformation applied) in the sensor frame. This message conveys similar information to the FP_A-RAWIMU message, only in another format.
Message fields:
# | Offset | Field | Type | Unit | Description |
---|---|---|---|---|---|
- | 0 |
| uint8_t | - | Sync byte 1 (always |
- | 1 |
| uint8_t | - | Sync byte 2 (always |
- | 2 |
| uint8_t | - | Sync byte 3 (always |
- | 3 |
| uint8_t | bytes | Length of the header (always |
- | 4 |
| uint16_t | - | Message ID, always |
- | 6 |
| uint8_t | - | See documentation |
- | 7 |
| uint8_t | - | Reserved, ignore |
- | 8 |
| uint8_t | bytes | Payload size, always |
- | 10 |
| uint16_t | - | Reserved, ignore |
- | 12 |
| uint8_t | - | Reserved, ignore |
1 | 13 |
| uint8_t | - | See documentation |
2 | 14 |
| uint16_t | - | GPS week number |
3 | 16 |
| int32_t | ms | GPS time of week |
- | 20 |
| uint32_t | - | Reserved, ignore |
- | 24 |
| uint16_t | - | Reserved, ignore |
- | 26 |
| uint16_t | - | Reserved, ignore |
4 | 28 |
| uint32_t | - | GNSS (GPS) week number (= |
5 | 32 |
| double | s | GNSS (GPS) time of week (= |
6 | 40 |
| uint32_t | - | Reserved, ignore |
7 | 44 |
| int32_t | m/s | Change in velocity along x-axis |
8 | 48 |
| int32_t | m/s | Change in velocity along y-axis |
9 | 52 |
| int32_t | m/s | Change in velocity along z-axis |
7 | 56 |
| int32_t | m/s | Change in angle count around z-axis |
8 | 60 |
| int32_t | m/s | Change in angle count around y-axis |
9 | 64 |
| int32_t | m/s | Change in angle count around x-axis |
- | 68 |
| uint32_t | - | CRC32 checksum (see protocol documentation) |