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 |