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Uli SDK

Report Velocity State

9.Report Velocity State

Uni-cast, report the linear velocities and rotation rates of a mobility base
system.

Response to: Query Velocity State


ID Name
H:0x00000001
L: 0x00000208
Report Velocity State


Velocity State Rec
# Name Description
1 velocity type enum:
0=UNKNOWN
1=FRD
2=NED
2 frd x double, meters per second, x speed in the FRD coordinates
3 frd y double, meters per second, x speed in the FRD coordinates
4 frd_z double, meters per second, x speed in the FRD coordinates
5 ned x double, meters per second, x speed in the NED coordinates
6 ned y double, meters per second, x speed in the NED coordinates
7 ned z double, meters per second, x speed in the NED coordinates
8 roll rate double, radian per second
9 pitch rate double, radian per second
10 yaw rate double, radian per second
11 rate rms double, radian per second, a RMS indicates the validity of the rate data.
12 speed over ground double, meters per second, scalar speed measured relative to fixed coordinate system.
13 speed relative to medium double, meters per second, scalar speed measured relative to air or wafer.
14 indicated speed double, meters per second