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实现 IMU 数据发布 + CRC

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Huang Haoyu
2026-03-23 22:39:29 +08:00
parent e670fe0848
commit 860decf873
5 changed files with 531 additions and 2 deletions
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docs/IMU/packet/MSG_NED_VEL.md Normal file
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# MSG_NED_VEL | FDISYSTEMS支持中心
该数据包用于描述：卡尔曼滤波融合的北东地速度
## 基本信息
| 属性 | 值 |
|------|-----|
| **Packet ID** | 0x5F |
| **Length** | 12 |
| **Read / Write** | Read |
## 数据字段
| Offset | Size | Format | Field | Unit | Description |
|--------|------|--------|-------|------|-------------|
| 0 | 4 | float32_t | Velocity_north | m/s | 滤波修正的北向速度 |
| 4 | 4 | float32_t | Velocity_east | m/s 7 | 滤波修正的东向速度 |
| 8 | 4 | float32_t | Velocity_down | m/s | 滤波修正的地向速度 |