Update INS status message definition
@@ -147,19 +147,21 @@ definitions:
fields:
- 8-31:
desc: Reserved
- - 6-7:
- desc: INS Error
+ - 5-7:
+ desc: IMU Status
values:
- - 0: No error
- - 1: General error
- - 3-5:
+ - 0: IMU Ready
+ - 1: No raw IMU data
+ - 2: No raw IMU timestamp
+ - 3: Unrecommended raw IMU rate
+ - 3-4:
desc: Initialization Routine Indicator
values:
- 0: None
- - 1: Automatic calibration routine in progress
+ - 1: Initial startup
- 0-2:
- desc: INS status
+ desc: INS Status
values:
- 0: INS ready
- - 1: INS calibration routine in progress
+ - 1: INS initializing
- 2: INS error
