ATTITUDE_REPORT

ID: 504

Payload Definition

Data Type	Name	Description
vec3	up_vec	world up vector (x,y,z) in the device coordinate system (x forward, y port, z up).
vec3	reserved	reserved for future magnetic field vector
u64	utc_msec	utc msec (1970 epoc). Will be 0 if not available.
u32	pwr_up_msec	msec since power up

This data pertains to the IMU in the RX16 module. Note the "dot" on one corner of the face of the RX16 module. The zero pitch and roll orientation is with the transducer face pointing downward with the "dot" toward the forward/starboard corner. Roll is positive as starboard side rolls downward and port side up. Pitch is positive when the forward axis is rotated downwards.

To compute pitch and roll from the up_vec:

Pitch = asin(-up_vec.x);

Roll = atan2(up_vec.y, up_vec.z);

We may support a calibrated magnetic vector in the future, but currently a heading signal from another source is required.