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Motus Reference Manual
Page 123 of 146
Version 1.1
29/11/2019
2 4 fp32 4 Angular velocity Y (rad/s)
3 8 fp32 4 Angular velocity Z (rad/s)
Table 71: Angular velocity packet
16.9.24 Angular Acceleration Packet
Angular Acceleration Packet
Packet ID 43
Length 12
Field
#
Bytes
Offset
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 72: Angular acceleration packet
16.9.25 External Position & Velocity Packet
External Position & Velocity Packet
Packet ID 44
Length 60
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 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 73: External position & velocity packet