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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)

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