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tholok97 merged 1 commit into from
Jun 30, 2026
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Update sonar-3d-15-api.md #111

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2 changes: 1 addition & 1 deletion docs/sonar-3d/sonar-3d-15-api.md
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Expand Up @@ -76,7 +76,7 @@ RIP2 supports several Protobuf-encoded messages, including:

#### `ImuBatch`
- Raw measurements of specific force and rate of turn from an internal IMU at 100Hz.
- Measurements are made at the position of the internal IMU within the sonar. The position offset relative to point cloud origin is -22 mm in x, -46 mm in y and 3 mm in z.
- Measurements are made at the position of the internal IMU within the sonar. The position offset relative to point cloud origin is -22 mm in x, -46 mm in y and -3 mm in z.
- Output in batches, with latency below 100ms during normal operation.
- Expect occational spikes in latency.
- Expect spikes in latency during configuration.
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