Advanced Navigation Boreas D90 - Body Acceleration Packet; Euler Orientation Packet; Quaternion Orientation Packet

11.4.18 Body Acceleration Packet
This packet does not include the acceleration due to gravity.
Body Acceleration Packet
Packet ID 38
Length 16
Read / Write Read
Field # Bytes Offset Data Type Size Description
1 0 fp32 4 Body acceleration X (m/s/s)
2 4 fp32 4 Body acceleration Y (m/s/s)
3 8 fp32 4 Body acceleration Z (m/s/s)
4 12 fp32 4 G force (g)
Table 80: Body Acceleration Packet
11.4.19 Euler Orientation Packet
Euler Orientation Packet
Packet ID 39
Length 12
Read / Write Read
Field # Bytes Offset Data Type Size Description
1 0 fp32 4 Roll (rad)
2 4 fp32 4 Pitch (rad)
3 8 fp32 4 Heading (rad)
Table 81: Euler Orientation Packet
11.4.20 Quaternion Orientation Packet
Quaternion Orientation Packet
Packet ID 40
Length 16
Read / Write Read
Field # Bytes Offset Data Type Size Description
1 0 fp32 4 QS
2 4 fp32 4 QX
3 8 fp32 4 QY
4 12 fp32 4 QZ
Table 82: Quaternion Orientation Packet
v1.2 Page 133 11 Oct 2022
Boreas Reference Manual • Advanced Navigation Packet Protocol