FixPosition Vision-RTK 2 - Nov_B-Rawimu

7.5.4. NOV_B-RAWIMU
This message contains time and the IMU’s acceleration and angular velocity (raw value,
no bias correction, only coordinate transformation applied) in the sensor frame. This
message conveys similar information to the FP_A-RAWIMU message, only in another
format.
Message fields:
# Offset Field Type Unit Description
- 0 sync1 uint8_t - Sync byte 1 (always 0xaa)
- 1 sync2 uint8_t - Sync byte 2 (always 0x44)
- 2 sync3 uint8_t - Sync byte 3 (always 0x12)
- 3 header_len uint8_t bytes Length of the header (always 28)
- 4 msg_id uint16_t -
Message ID, always 268 for this mes-
sage
- 6 msg_type uint8_t - See documentation
- 7 reserved1 uint8_t - Reserved, ignore
- 8 payload_len uint8_t bytes
Payload size, always 40 for this mes-
sage
- 10 reserved2 uint16_t - Reserved, ignore
- 12 reserved3 uint8_t - Reserved, ignore
1 13 time_status uint8_t - See documentation
2 14 gps_wno uint16_t - GPS week number
3 16 gps_tow int32_t ms GPS time of week
- 20 reserved4 uint32_t - Reserved, ignore
- 24 reserved5 uint16_t - Reserved, ignore
- 26 reserved6 uint16_t - Reserved, ignore
4 28 gnss_week uint32_t -
GNSS (GPS) week number (=
gps_week)
5 32 gnss_tow double s
GNSS (GPS) time of week (= gps_tow
ast 10-3)
6 40 reserved7 uint32_t - Reserved, ignore
7 44 x_accel int32_t m/s Change in velocity along x-axis
8 48 y_accel int32_t m/s Change in velocity along y-axis
9 52 z_accel int32_t m/s Change in velocity along z-axis
7 56 z_gyro int32_t m/s Change in angle count around z-axis
8 60 y_gyro int32_t m/s Change in angle count around y-axis
9 64 x_gyro int32_t m/s Change in angle count around x-axis
- 68 checksum uint32_t -
CRC32 checksum (see protocol docu-
mentation)
Table 7.18.: NOV_B-RAWIMU message format
Vision-RTK 2 | Fixposition Positioning Sensor 65