RT_INS_Vel_Body_Axes_2D 2: INS Forewards and Sideways 2D Velocity 2
RT_INS_Vel_Body_Axes_2D_2: 142, 24 (0x8E1820 + unit id) (0x398)
Byte 0: Validity
Byte 1: Accuracy (forwards & sideways)
Bytes 2-4: INS velocity forwards 2D (m/s) + 838.8608m/s (m/s)
Bytes 5-7: INS velocity sideways 2D (m/s) + 838.8608m/s (m/s)
Forward and Sideways 2D velocities are horizontal velocities in the forward and sideways direction relative to the vehicle body.
Speed resolution is m/s * 1e-4.
NOTE: The output is technically aligned with the IMU sensor, and hence technically best described as the sensor axis velocities. Since the sensor is intended to be mounted inline with the vehicle body we describe them as the body axis velocities, which is valid for correct orientation of the sensor with the vehicle body as intended.
NOTE 2: This message is an alternative to RT_INS_Vel_Body_Axes_2D for those customers whose CAN data decoders cannot decoder signed 24 bit values. In this version of the messages the forward and sideways speed are instead always output as unsigned 24 bit quantities by adding 0x800000 (corresponding to 838.8608m/s after decoding the resolution by scaling by 1e-4) to the actual speed in order to ensure that an unsigned quantity is always output.