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*34rn

 

Message fields

# Field Format Unit Example Description
1

msg_type

 String

-

RAWIMU

Message type, always RAWIMU for this message
2

msg_version

 Numeric

-

1

Message version, always 1 for this version of the RAWIMU message
3

gps_week

 Numeric

-

2197

GPS week number, range 0–9999
4

gps_tow

 Float (.6)

s

126191.777855

GPS time of week, range 0.000–604799.999999
5

acc_x

 Float (.6)

m/s2

-0.199914

Raw acceleration in output frame, X component
6

acc_y

 Float (.6)

m/s2

0.472851

Raw acceleration in output frame, Y component
7

acc_z

 Float (.6)

m/s2

9.917973

Raw acceleration in output frame, Z component
8

rot_x

 Float (.6)

rad/s

0.023436

Raw angular velocity in output frame, X component
9

rot_y

 Float (.6)

rad/s

0.007723

Raw angular velocity in output frame, Y component
10

rot_z

 Float (.6)

rad/s

0.002131

Raw angular velocity in output frame, Z component

 

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