IMU Interface

TCP Protocol

Robot attitude information (Roll/Pitch/Yaw) can be obtained through the real-time basic status query (Type=1002).

UDP IMU Data Reporting

The motion host reports ImuSensorData struct data via UDP (included in ControllerSensorData):

Command Code	Command Type	Send Frequency
0x100A	1	200Hz

struct ImuSensorData {
  int32_t timestamp;
  union {
    float buffer_float[9];
    uint8_t buffer_byte[3][12];
    struct {
      float roll, pitch, yaw;          // Angles (°)
      float omega_x, omega_y, omega_z; // Angular velocity (rad/s)
      float acc_x, acc_y, acc_z;       // Acceleration (m/s2)
    };
  };
};

Field	Type	Description
timestamp	int32_t	Timestamp
roll / pitch / yaw	float	Attitude angles (°)
omega_x / omega_y / omega_z	float	Angular velocity (rad/s)
acc_x / acc_y / acc_z	float	Acceleration (m/s2)