Spatial FOG Reference Manual
Page 115 of 144
Version 2.3
03/05/2018
2
4
fp32
4
Angular velocity Y (rad/s)
3
8
fp32
4
Angular velocity Z (rad/s)
Table 64: Angular velocity packet
13.9.24
Angular Acceleration Packet
Angular Acceleration Packet
Packet ID
43
Length
12
Field
#
Bytes
Ofset
Data
Type
Size
Description
1
0
fp32
4
Angular acceleration X (rad/s/s)
2
4
fp32
4
Angular acceleration Y (rad/s/s)
3
8
fp32
4
Angular acceleration Z (rad/s/s)
Table 65: Angular acceleration packet
13.9.25
External Position & Velocity Packet
External Position & Velocity Packet
Packet ID
44
Length
60
Field
#
Bytes
Ofset
Data
Type
Size
Description
1
0
fp64
8
Latitude (rad)
2
8
fp64
8
Longitude (rad)
3
16
fp64
8
Height (m)
4
24
fp32
4
Velocity north (m/s)
5
28
fp32
4
Velocity east (m/s)
6
32
fp32
4
Velocity down (m/s)
7
36
fp32
4
Latitude standard deviation (m)
8
40
fp32
4
Longitude standard deviation (m)
9
44
fp32
4
Height standard deviation (m)
10
48
fp32
4
Velocity north standard deviation (m/s)
11
52
fp32
4
Velocity east standard deviation (m/s)
12
56
fp32
4
Velocity down standard deviation (m/s)
Table 66: External position & velocity packet