Instruction Manual

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Page74
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GNAV540UserManual
7430‐0808‐01Rev.B
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S0PayloadContents
Byte
ffset
O
Name Format Scaling Units Description
8 yRate I2 7*pi/2^16
6)
(1260°/2^1
rad/s
)
(°/sec
Yangularrate
10 zRate I2 7*pi/2^16
2^16)
(1260°/
rad/s
(°/sec)
Zangularrate
12 xMag I2 2/2^16 Gauss Xmagnetometer
14 yMag I2 2/2^16 Gauss Ymagnetometer
16 zMag I2 2/2^16 Gauss Zmagnetometer
18 xRateTemp I2 200/2^16 deg.C Xratetemperature
20 yRateTemp I2 200/2^16 deg.C Yratetemperature
22 zRateTemp I2 200/2^16 deg.C Zratetemperature
24 boardTemp I2 200/2^16 deg.C CPUboardtemperature
26 GPSITOW U2 truncated ms GPSITOW(lower2bytes)
28 BITstatus U2 — — MasterBITandStatus
ScaledSensorDataPacket1(DefaultIMUData)
Table39S1DataPacket
ScaledSensorData(‘S1’=0x5331)
Preamble PacketType Length  Payload Termination
0x5555 0x5331 0x18 <S1payload> <CRC(U2)>
Thispacketcontainsscaledsensordata.Datainvolvingangularmeasurementsincludethefactorpiinthescaling
andcan
beinterpretedineitherradiansordegrees.
• (‐630deg/secto+630deg/sec)
Angularrates:scaledtorangeof3.5*(‐pi,+pi)or
•
Accelerometers:scaledtoarangeof(‐10,+10)g
• Temperature:scaledtoarangeof(‐100,+100)°C
Table40S1Payload
S1PayloadContents
ByteOffset Name Format Scaling Units Description
0 xAccel I2 20/2^16 g Xaccelerometer
2 yAccel I2 20/2^16 g Yaccelerometer
4 zAccel I2 20/2^16 g Zaccelerometer
6 xRate I2 7*pi/2^16
6)
(1260°/2^1
rad/s
)
(°/sec
Xangularrate
8 yRate I2 7*pi/2^16
(1260°/2^16)
rad/s
(°/sec)
Yangularrate