MSG_INS/GPS
| MSG_INS/GPS | | | | | |
|---|
| Packet ID | 0x42 | | | | |
| Length | 72 | | | | |
| Read / Write | Read | | | | |
| Offset | Size | Format | Field | Unit | Description |
| 0 | 4 | float32_t | BodyVelocity_X | m/s | 机体系X轴速度 |
| 4 | 4 | float32_t | BodyVelocity_Y | m/s | 机体系Y轴速度 |
| 8 | 4 | float32_t | BodyVelocity_Z | m/s | 机体系Z轴速度 |
| 12 | 4 | float32_t | BodyAcceleration_X | m/s/s | 机体系X轴加速度 |
| 16 | 4 | float32_t | BodyAcceleration_Y | m/s/s | 机体系Y轴加速度 |
| 20 | 4 | float32_t | BodyAcceleration_Z | m/s/s | 机体系Z轴加速度 |
| 24 | 4 | float32_t | Location_North | m | 上电为0,从坐标原点到当前向北方向的距离 |
| 28 | 4 | float32_t | Location_East | m | 上电为0,从坐标原点到当前向东方向的距离 |
| 32 | 4 | float32_t | Location_Down | m | 上电为0,从坐标原点到当前向地方向的距离 |
| 36 | 4 | float32_t | Velocity_North | m/s | NED系向北速度 |
| 40 | 4 | float32_t | Velocity_East | m/s | NED系向东速度 |
| 44 | 4 | float32_t | Velocity_Down | m/s | NED系向地速度 |
| 48 | 4 | float32_t | Acceleration_North | m/s/s | NED系向北加速度 |
| 52 | 4 | float32_t | Acceleration_East | m/s/s | NED系向东加速度 |
| 56 | 4 | float32_t | Acceleration_Down | m/s/s | NED系向地加速度 |
| 60 | 4 | float32_t | Pressure_Altitude | m | 由气压计不经过数据融合直接导航出来的高度 |
| 64 | 8 | int64_t | Timestamp | us | 数据的时间戳 |
