raw

The raw interface contains unprocessed sensory data from all the instruments on-board, along with the RF baseband samples. This interface is mainly used for testing purposes, as during normal operation using the USBGPSIMU2, the RF baseband samples never leave the FPGA unprocessed. The possible packets in the raw interface are as follows:

• ConfigurationPacket, containing a JSON string describing measurement rates for the GNSS samples, IMU samples, etc. It also contains information about the relative position and orientation of the various instruments.
• GNSSSamplePacket, containing an index, and a number of GNSS samples.
• IMUPacket, containing an index, and a number of IMU measurements including translational acceleration and angular velocity.
• BarometerPacket, containing an index, along with a pressure measurement.
• MagnetometerPacket, containing an index, along with a 3D magnetic field vector.

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JSON schema representations: Config | Packet