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	`sync1`	uint8_t	-	Sync byte 1 (always `0xaa`)
-	1	`sync2`	uint8_t	-	Sync byte 2 (always `0x44`)
-	2	`sync3`	uint8_t	-	Sync byte 3 (always `0x12`)
-	3	`header_len`	uint8_t	bytes	Length of the header (always `28`)
-	4	`msg_id`	uint16_t	-	Message ID, always `268` for this message
-	6	`msg_type`	uint8_t	-	See documentation
-	7	`reserved1`	uint8_t	-	Reserved, ignore
-	8	`payload_len`	uint8_t	bytes	Payload size, always `40` for this message
-	10	`reserved2`	uint16_t	-	Reserved, ignore
-	12	`reserved3`	uint8_t	-	Reserved, ignore
1	13	`time_status`	uint8_t	-	See documentation
2	14	`gps_wno`	uint16_t	-	GPS week number
3	16	`gps_tow`	int32_t	ms	GPS time of week
-	20	`reserved4`	uint32_t	-	Reserved, ignore
-	24	`reserved5`	uint16_t	-	Reserved, ignore
-	26	`reserved6`	uint16_t	-	Reserved, ignore
4	28	`gnss_week`	uint32_t	-	GNSS (GPS) week number (= `gps_week`)
5	32	`gnss_tow`	double	s	GNSS (GPS) time of week (= `gps_tow` * 10^-3)
6	40	`reserved7`	uint32_t	-	Reserved, ignore
7	44	`x_accel`	int32_t	m/s	Change in velocity along x-axis
8	48	`y_accel`	int32_t	m/s	Change in velocity along y-axis
9	52	`z_accel`	int32_t	m/s	Change in velocity along z-axis
7	56	`z_gyro`	int32_t	m/s	Change in angle count around z-axis
8	60	`y_gyro`	int32_t	m/s	Change in angle count around y-axis
9	64	`x_gyro`	int32_t	m/s	Change in angle count around x-axis
-	68	`checksum`	uint32_t	-	CRC32 checksum (see protocol documentation)