IMUVEH (Sub ID 0x010)
Output Compensated MEMS data in the Vehicle Body Coordinate System
Applicable to：UM621 series, UM681A
| ID | Field | Description | Type | Bytes | Bytes Offset |
|---|---|---|---|---|---|
| 1 | Year | U16 | Year: (UTC); 0xFFFF means invalid | 2 | 0 |
| 2 | Month | U8 | Month: 1 to 12 (UTC); 0xFF means invalid | 1 | 2 |
| 3 | Day | U8 | Day: 1 to 31 (UTC); 0xFF means invalid | 1 | 3 |
| 4 | Hour | U8 | Hour: 0 to 23 (UTC); 0xFF means invalid | 1 | 4 |
| 5 | Min | U8 | Minute: 0 to 59 (UTC); 0xFF means invalid | 1 | 5 |
| 6 | mSec | U16 | Millisecond; 0xFFFF means invalid | 2 | 6 |
| 7 | gyroX | S32 | X-axis angular velocity of the built-in gyroscope in body coordinate system; unit: 2^-16 rad/s; before the calibration of the initial device, it is invalid and outputs 0x80000000 |
4 | 8 |
| 8 | gyroY | S32 | Y-axis angular velocity of the built-in gyroscope in body coordinate system; unit: 2^-16 rad/s; before the calibration of the initial device, it is invalid and outputs 0x80000000 |
4 | 12 |
| 9 | gyroZ | S32 | Z-axis angular velocity of the built-in gyroscope in body coordinate system; unit: 2^-16 rad/s; before the calibration of the initial device, it is invalid and outputs 0x80000000 |
4 | 16 |
| 10 | accX | S32 | X-axis acceleration of the built-in accelerometer in body coordinate system; unit: 2^-16 m/s2; before the calibration of the initial device, it is invalid and outputs 0x80000000 |
4 | 20 |
| 11 | accY | S32 | Y-axis acceleration of the built-in accelerometer in body coordinate system; unit: 2^-16 m/s2; before the calibration of the initial device, it is invalid and outputs 0x80000000 |
4 | 24 |
| 12 | accZ | S32 | Z-axis acceleration of the built-in accelerometer in body coordinate system; unit: 2^-16 m/s2; before the calibration of the initial device, it is invalid and outputs 0x80000000 |
4 | 28 |
| 13 | Speed | S16 | Vehicle speed pulses; > 0 means forward and < 0 means backward; the field is invalid if there is no vehicle pulse signal |
2 | 32 |
| Total | 34 |