IMU Data
IMU Request Packet
| Name |
Header |
Serial Number |
| Bytes |
1 |
4 |
| Type |
uint8_t |
uint32_t |
| Description |
0x5A |
First request should be 0, otherwise the last one |
IMU Response Packet
The IMU response packet contains multiple IMU packets, and each IMU packet contains multiple IMU segments.
| Name |
Header |
State |
Size |
IMU Packets |
Checksum |
| Bytes |
1 |
1 |
2 |
... |
1 |
| Type |
uint8_t |
uint8_t |
uint16_t |
- |
uint8_t |
| Description |
0x5B |
0 is success, others are failed |
Content size |
IMU packets |
Checksum, XOR of all content bytes |
IMU Packet
The IMU packet is an array of IMU datas.
| Name |
Serial Number |
Timestamp |
Count |
IMU Datas |
| Bytes |
4 |
4 |
1 |
... |
| Type |
uint32_t |
uint32_t |
uint8_t |
- |
| Description |
Serial number |
IMU basic timestamp |
The number of IMU datas |
IMU datas |
IMU Segment
| Name |
Offset |
Frame ID |
Accelerometer |
Temperature |
Gyroscope |
| Bytes |
2 |
2 |
6 |
2 |
6 |
| Type |
int16_t |
uint16_t |
int16_t * 3 |
int16_t |
int16_t * 3 |
| Description |
The timestamp offset |
Image frame ID |
Accel x,y,z values |
IMU temperature |
Gyro x,y,z values |
- Formula for converting the accel & gyro values to real ones: real = data * range / 0x10000 .
accel default range is 8 g, gyro default range is 1000 deg/s.
- Formula for converting the temperature to real value: real = data / ratio + offset .
- default
ratio is 326.8, default offset is 25℃.
