Raw data from the Inertial Measurement Unit, containing accelerometer and gyroscope readings. The sense of the measurements are to be aligned with the indications on the device itself. Measurement units, which are specific to the device hardware and settings, are communicated via the MSG_IMU_AUX message. If using "time since startup" local time tags, the receiving end will expect either a MSG_GNSS_TIME_OFFSET or MSG_PPS_TIME to establish the relationship between IMU time and GNSS time., Regardless of the timestamping mode, the timestamp is required to roll over to zero when reaching one week (604800 seconds, or 604800000 milliseconds)., The time-tagging mode should not change throughout a run.
{
"copyright": [
"Copyright (C) 2019-2021 Swift Navigation Inc.",
"Contact: https://support.swiftnav.com",
"",
"This source is subject to the license found in the file 'LICENSE' which must",
"be distributed together with this source. All other rights reserved.",
"",
"THIS CODE AND INFORMATION IS PROVIDED 'AS IS' WITHOUT WARRANTY OF ANY KIND,",
"EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED",
"WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE."
],
"$schema": "http://json-schema.org/draft-06/schema#",
"$id": "#MsgImuRaw",
"title":"MsgImuRaw",
"description":"Raw data from the Inertial Measurement Unit, containing accelerometer and gyroscope readings. The sense of the measurements are to be aligned with the indications on the device itself. Measurement units, which are specific to the device hardware and settings, are communicated via the MSG_IMU_AUX message. If using \"time since startup\" local time tags, the receiving end will expect either a MSG_GNSS_TIME_OFFSET or MSG_PPS_TIME to establish the relationship between IMU time and GNSS time.,\nRegardless of the timestamping mode, the timestamp is required to roll over to zero when reaching one week (604800 seconds, or 604800000 milliseconds).,\nThe time-tagging mode should not change throughout a run.\n",
"type": "object",
"properties": {
"tow": {"type": "integer"},
"tow_f": {"type": "integer"},
"acc_x": {"type": "integer"},
"acc_y": {"type": "integer"},
"acc_z": {"type": "integer"},
"gyr_x": {"type": "integer"},
"gyr_y": {"type": "integer"},
"gyr_z": {"type": "integer"}
},
"required": [
"tow",
"tow_f",
"acc_x",
"acc_y",
"acc_z",
"gyr_x",
"gyr_y",
"gyr_z"
]
}