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)

-

-

-