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Motus Reference Manual
Page 124 of 146
Version 1.1
29/11/2019
16.9.26 External Position Packet
External Position Packet
Packet ID 45
Length 36
Field
#
Bytes
Offset
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 Latitude standard deviation (m)
5 28 fp32 4 Longitude standard deviation (m)
6 32 fp32 4 Height standard deviation (m)
Table 74: External position packet
16.9.27 External Velocity Packet
External Velocity Packet
Packet ID 46
Length 24
Field
#
Bytes
Offset
Data
Type
Size Description
1 0 fp32 4 Velocity north (m/s)
2 4 fp32 4 Velocity east (m/s)
3 8 fp32 4 Velocity down (m/s)
4 12 fp32 4 Velocity north standard deviation (m/s)
5 16 fp32 4 Velocity east standard deviation (m/s)
6 20 fp32 4 Velocity down standard deviation (m/s)
Table 75: External velocity packet
16.9.28 External Body Velocity Packet
This packet has been defined to support a single velocity standard deviation for all
three axes, or, different values for all three axes. Please ensure you modify the packet
length in the packet header accordingly, depending on which format you are using.
External Body Velocity Packet
Packet ID 47
Length 16 or 24
Field Bytes Data Size Description