sbp-6.2.1: SwiftNav's SBP Library
CopyrightCopyright (C) 2015-2021 Swift Navigation Inc.
LicenseMIT
Stabilityexperimental
Portabilityportable
Safe HaskellSafe-Inferred
LanguageHaskell2010

SwiftNav.SBP.Imu

Description

< Inertial Measurement Unit (IMU) messages. >

Synopsis

Documentation

data MsgImuRaw Source #

SBP class for message MSG_IMU_RAW (0x0900).

Raw data from the Inertial Measurement Unit, containing accelerometer and gyroscope readings. The sense of the measurements are to be aligned with the indications on the device itself. Measurement units, which are specific to the device hardware and settings, are communicated via the MSG_IMU_AUX message. If using "time since startup" local time tags, the receiving end will expect either a MSG_GNSS_TIME_OFFSET or MSG_PPS_TIME to establish the relationship between IMU time and GNSS time. Regardless of the timestamping mode, the timestamp is required to roll over to zero when reaching one week (604800 seconds, or 604800000 milliseconds). The time-tagging mode should not change throughout a run.

Constructors

MsgImuRaw 

Fields

data MsgImuAux Source #

SBP class for message MSG_IMU_AUX (0x0901).

Auxiliary data specific to a particular IMU. The imu_type field will always be consistent but the rest of the payload is device specific and depends on the value of imu_type.

Constructors

MsgImuAux 

Fields

data MsgImuComp Source #

SBP class for message MSG_IMU_COMP (0x0905).

Data from the Inertial Measurement Unit, containing accelerometer and gyroscope readings compensated for estimated errors and constant physical effects. The output is valid for inertially referenced center of navigation (IMU body frame) represented in vehicle body frame.

Constructors

MsgImuComp 

Fields