### 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 |