In what frame is CORRIMUDATAS output in OEM6?

The CORRIMUDATAS message is output in the SPAN computation frame which is why it does not change with IMU orientation provided the correct SETIMUORIENTATION has been sent. RAWIMUDATAS gives you the output in the IMU enclosure frame, whereas the CORRIMUDATAS outputs the data in the SPAN computation frame. Please refer to page 75 in for further information on the mapping between the IMU enclosure frame and the SPAN computation frame.

If APPLYVEHICLEBODYROTATION ENABLE has been sent, then CORRIMUDATAS is output with respect to the vehicle frame.