Question about dwImuFrame

dwImuFrame has a field named turnrate. The documentation says it is “Roll, pitch, and yaw turn rate (i.e., gyroscope)[rad/s].”. Which coordinate system are they in?

Dear @yuzhang,
It is not clear from your ask. Are you asking which co ordinate system will have roll pitch yaw?

Hi @SivaRamaKrishnaNV,

I meant to ask in what coordinate system roll/pitch/yaw turn rate are expressed.

Hi @yuzhang,

Please see if “Coordinate Systems” documentation page (/usr/local/driveworks/doc/nvsdk_html/dwx_coordinate_systems.html on your host with DriveWorks installed) helps. Thanks!

Hi @VickNV,

I have read and understand the coordinate systems described in the documentation. What I am wondering is which coordinate system roll/pitch/yaw turn rate is in? Is it in IMU coordinate system, Rig coordinate system, or GPS coordinate system?

It should be in IMU coodinate system.

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