42
UM001
4.4.3
YawPitchRoll
The estimated attitude Yaw, Pitch, and Roll angles measured in degrees. The attitude is given as a 3,2,1
Euler angle sequence describing the body frame with respect to the local North East Down (NED) frame.
This field is equivalent to the YawPitchRoll field in group 5.
YawPitchRoll
yaw
pitch
roll
Byte Offset
0
1
2
3
4
5
6
7
8
9
10
11
Type
float
float
float
4.4.4
Quaternion
The estimated attitude quaternion. The last term is the scalar value. The attitude is given as the body
frame with respect to the local North East Down (NED) frame. This field is equivalent to the Quaternion
field in group 5.
Quaternion
qtn[0]
qtn[1]
qtn[2]
qtn[3]
Byte Offset
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Type
float
float
float
float
4.4.5
AngularRate
The estimated angular rate measured in rad/s. The angular rates are compensated by the onboard filter
bias estimates. The angular rate is expressed in the body frame. This field is equivalent to the AngularRate
field in group 3.
AngularRate
rate[0]
rate[1]
rate[2]
Byte Offset
0
1
2
3
4
5
6
7
8
9
10
11
Type
float
float
float
4.4.6
Accel
The estimated acceleration in the body frame, given in m/s^2. This acceleration includes gravity and has
been bias compensated by the onboard INS Kalman filter. This field is equivalent to the Accel field in
group 3.
Accel
accel[0]
accel[1]
accel[2]
Byte Offset
0
1
2
3
4
5
6
7
8
9
10
11
Type
float
float
float
4.4.7
Imu
The uncompensated IMU acceleration and angular rate measurements. The acceleration is given in
m/s^2, and the angular rate is given in rad/s. These measurements correspond to the calibrated angular
