Advanced Navigation GNSS Compass - 10.4.19 Body Acceleration Packet; 10.4.20 Euler Orientation Packet; 10.4.21 Quaternion Orientation Packet

10.4.19 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 67: Body Acceleration Packet
10.4.20 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 68: Euler Orientation Packet
10.4.21 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 69: Quaternion Orientation Packet
v2.0 Page 97 04 Nov 2021
GNSS Compass Reference Manual • Advanced Navigation Packet Protocol