52
UM001
4.7.8
LinearAccelNed
The estimated linear acceleration (without gravity) reported in m/s^2, and given in the North East Down
(NED) frame. This measurement is attitude dependent as the attitude solution is used to map the
measurement from the body frame into the inertial (NED) frame. This acceleration measurement has
been bias compensated by the onboard INS filter, and the gravity component has been removed using the
current gravity reference vector estimate. If the device is stationary and the onboard INS filter is tracking,
the measurement nominally will read 0 in all three axes.
LinearAccelNed
accel[0]
accel[1]
accel[2]
Byte Offset
0
1
2
3
4
5
6
7
8
9
10
11
Type
float
float
float
4.7.9
YprU
The estimated attitude (Yaw, Pitch, Roll) uncertainty (1 Sigma), reported in degrees.
YprU
yaw
pitch
roll
Byte Offset
0
1
2
3
4
5
6
7
8
9
10
11
Type
float
float
float
The estimated attitude (YprU) field is not valid when the INS Scenario mode in the INS Basic
Configuration register is set to AHRS mode. See the INS Basic Configuration Register in the INS section
for more details.
