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Motus Reference Manual
Page 115 of 146
Version 1.1
29/11/2019
16.9.9 Raw Sensors Packet
Raw Sensors Packet
Packet ID 28
Length 48
Field
#
Bytes
Offset
Data
Type
Size Description
1 0 fp32 4 Accelerometer X (m/s/s)
2 4 fp32 4 Accelerometer Y (m/s/s)
3 8 fp32 4 Accelerometer Z (m/s/s)
4 12 fp32 4 Gyroscope X (rad/s)
5 16 fp32 4 Gyroscope Y (rad/s)
6 20 fp32 4 Gyroscope Z (rad/s)
7 24 fp32 4 Magnetometer X (mG)
8 28 fp32 4 Magnetometer Y (mG)
9 32 fp32 4 Magnetometer Z (mG)
10 36 fp32 4 IMU Temperature (deg C)
11 40 fp32 4 Reserved (set to zero)
12 44 fp32 4 Reserved (set to zero)
Table 54: Raw sensors packet
16.9.10 Raw GNSS Packet
This packet represents the raw data as it is received from the GNSS receiver. The
position is not corrected for antenna position offset and the velocity is not
compensated for the antenna lever arm offset. The INS position and velocity that are
in the other packets are corrected for antenna position offset and lever arm.
If the information for a specific field is not received from the external GNSS receiver,
the field will be output as zero.
Raw GNSS Packet
Packet ID 29
Length 74
Field
#
Bytes
Offset
Data
Type
Size Description
1 0 u32 4 Unix time stamp (seconds)
2 4 u32 4 Microseconds
3 8 fp64 8 Latitude (rad)
4 16 fp64 8 Longitude (rad)