IMURATECORRIMUS
Asynchronous Corrected IMU Data
|
Platform: |
OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700, SMART7-S |
This log provides the same information as the CORRIMUS log, but is available asynchronously at the full rate of the IMU.
Using this log consumes significant system resources and should only be used by experienced users.
However, using this log consumes less resources than logging the synchronous CORRIMUDATAS log at the same rate.
To obtain the instantaneous rates of acceleration (in m/s/s) or rotation (in rad/s) from the output values of measurements per sample rate (m/s/sample and rad/sample), multiply the output values by the IMU data rate in Hz.
This log should only be requested with the ONNEW trigger.
Message ID: 1362
Log Type: Asynch
Recommended Input:
log imuratecorrimusb onnew
Example log:
%IMURATECORRIMUSA,2209,489768.026;2209,489768.026275000,-0.000000298,-0.000000690,-0.000001034,-0.000043357,0.000009959,-0.000012101*36ef5bdd
|
Field |
Field Type |
Description |
Format |
Binary Bytes |
Binary Offset |
|
1 |
Log header |
IMURATECORRIMUS header For information about short log headers, see Description of ASCII and Binary Logs with Short Headers. |
- |
H |
0 |
|
2 |
Week |
GNSS week |
Ulong |
4 |
H+ |
|
3 |
Seconds |
GNSS seconds from week start |
Double |
8 |
H+4 |
|
4 |
PitchRate |
About x axis rotation (rad/sample) |
Double |
8 |
H+12 |
|
5 |
RollRate |
About y axis rotation (rad/sample) |
Double |
8 |
H+20 |
|
6 |
YawRate |
About z axis rotation (right-handed) (rad/sample) |
Double |
8 |
H+28 |
|
7 |
LateralAcc |
INS Lateral Acceleration (along x-axis) (m/s/sample) |
Double |
8 |
H+36 |
|
8 |
LongitudinalAcc |
INS Longitudinal Acceleration (along y-axis) (m/s/sample) |
Double |
8 |
H+44 |
|
9 |
VerticalAcc |
INS Vertical Acceleration (along z-axis)(m/s/sample) |
Double |
8 |
H+52 |
|
10 |
xxxx |
32-bit CRC |
Hex |
4 |
H+60 |
|
11 |
[CR][LF] |
Sentence Terminator (ASCII only) |
- |
- |
- |