/
Ins.msg
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Ins.msg
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Header header
float64 time # GPS time of week in seconds
uint16 week # GPS week (week)
uint64 utcTime # The current UTC time. The year is given as a signed byte year offset from the year 2000. E.g. 2013 as 13.
# Fields: year month day hour min sec ms
# Byte offset: 0 1 2 3 4 5 6|7
# INS Status
# Name Bit Offset Format Description
# Mode 0 2 bits Indicates the current mode of the INS filter.
# 0 = Not tracking. Insufficient dynamic motion to estimate attitude.
# 1 = Sufficient dynamic motion, but solution not within performance specs.
# 2 = INS is tracking and operating within specifications.
# GpsFix 2 1 bit Indicates whether the GPS has a proper fix
# Error 3 4 bits Sensor measurement error code
# 0 = No errors detected.
# Name Bit Offset Format Description
# Time Error 0 1 bit High if INS filter loop exceeds 5 ms.
# IMU Error 1 1 bit High if IMU communication error is detected.
# Mag/Pres Error 2 1 bit High if Magnetometer or Pressure sensor error is detected.
# GPS Error 3 1 bit High if GPS communication error is detected.
#Reserved 7 9 bits Reserved for future use.
uint16 insStatus
float32 yaw # Yaw angle relative to true north. (degree)
float32 pitch # Yaw angle relative to true north (degree)
float32 roll # Pitch angle relative to horizon (degree)
float64 latitude # INS solution position in geodetic latitude (degree)
float64 longitude # INS solution position in geodetic longitude (degree)
float64 altitude # Height above ellipsoid. (WGS84) (meter)
float32 nedVelX # INS solution velocity in NED frame. (North) (m/s)
float32 nedVelY # INS solution velocity in NED frame. (East) (m/s)
float32 nedVelZ # INS solution velocity in NED frame. (Down) (m/s)
float32[3] attUncertainty # Uncertainty in attitude estimate (yaw, pitch and roll in degrees)
float32 posUncertainty # Uncertainty in position estimate (m)
float32 velUncertainty # Uncertainty in velocity estimate (m/s)