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51
stored in flash), and the dynamic calibration such as the user or onboard Hard/Soft Iron compensation
registers.
MagNed
mag[0]
mag[1]
mag[2]
Byte Offset
0
1
2
3
4
5
6
7
8
9
10
11
Type
float
float
float
4.7.6
AccelNed
The estimated acceleration (with gravity) reported in m/s^2, given in the North East Down (NED) frame.
The acceleration measurement has been bias compensated by the onboard INS filter. This measurement
is attitude dependent, since the attitude is used to map the measurement from the body frame into the
inertial (NED) frame. If the device is stationary and the INS filter is tracking, the measurement should be
nominally equivalent to the gravity reference vector in the inertial frame (NED).
AccelNed
accel[0]
accel[1]
accel[2]
Byte Offset
0
1
2
3
4
5
6
7
8
9
10
11
Type
float
float
float
4.7.7
LinearAccelBody
The estimated linear acceleration (without gravity) reported in m/s^2, and given in the body frame. The
acceleration measurement has been bias compensated by the onboard INS filter, and the gravity
component has been removed using the current gravity reference vector model. This measurement is
attitude dependent, since the attitude solution is required to map the gravity reference vector (known in
the inertial NED frame), into the body frame so that it can be removed from the measurement. If the
device is stationary and the onboard INS filter is tracking, the measurement nominally will read 0 in all
three axes.
LinearAccelBody
accel[0]
accel[1]
accel[2]
Byte Offset
0
1
2
3
4
5
6
7
8
9
10
11
Type
float
float
float
