What is double DRFramePlatform[3]

[schaubh]

What is double DRFramePlatform[3] (Description: Accumulated DRs in platform). It is a variable of the IMUSensorMsgPayload. How do I calculated my attiude in inertial frame with it?

[schaubh]

That is a rather old module that has limited use in the repo. To simulate rate or attitude sensor, or combined sensor, we tend to use simpleNav. The DRFramePlatform is, I believe, the differential rotation of the sensor platform. I didn't write this module nor use it, I was looking through the code imuSensor which creates the IMU state message.