RT_Accel_FSD Compensated forwards/sideways/down acceleration data
RT_Accel: 128, 2 (0x800220 + unit id) (0x002)
Byte 0: Validity
Byte 1: Accuracy
Bytes 2-3: Accel Forwards (g)
Bytes 4-5: Accel Sideways (g)
Bytes 6-7: Accel Down (g)
Accel resolution is g/1000.
Accelerations output in this message are Forwards/Sideways/Down (X, Y, Z) in axes that are aligned with the sensor X and Y orientation, and perpendicular to the local Earth horizontal surface. If auto-levelling has been run with the vehicle on a horizontal surface then the output can be considered to be aligned with the vehicle X and Y orientation, and perpendicular to the local Earth horizontal surface.
Accelerations output in this message have had gravitational and coriollis affects removed and are therefore the actual accelerations in these directions.
Note that this message is only available on the SPEEDBOX-INS since full knowledge of vehicle attitude is required in order to remove gravitational affects.