{
  "copyright": [
    "Copyright (C) 2019-2021 Swift Navigation Inc.",
    "Contact: https://support.swiftnav.com",
    "",
    "This source is subject to the license found in the file 'LICENSE' which must",
    "be distributed together with this source. All other rights reserved.",
    "",
    "THIS CODE AND INFORMATION IS PROVIDED 'AS IS' WITHOUT WARRANTY OF ANY KIND,",
    "EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED",
    "WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE."
  ],
  "$schema": "http://json-schema.org/draft-06/schema#",
  "$id": "#MsgAngularRate",
  "title":"MsgAngularRate",
  "description":"This message reports the orientation rates in the vehicle body frame. The values represent the measurements a strapped down gyroscope would make and are not equivalent to the time derivative of the Euler angles. The orientation and origin of the user frame is specified via device settings. By convention, the vehicle x-axis is expected to be aligned with the forward direction, while the vehicle y-axis is expected to be aligned with the right direction, and the vehicle z-axis should be aligned with the down direction. This message will only be available in future INS versions of Swift Products and is not produced by Piksi Multi or Duro.\n",
  "type": "object",
  "properties": {
    "tow": {"type": "integer"},
    "x": {"type": "integer"},
    "y": {"type": "integer"},
    "z": {"type": "integer"},
    "flags": {"type": "integer"}
  },
  "required": [
    "tow",
    "x",
    "y",
    "z",
    "flags"
  ]
}