Instruction Manual

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V540U
0808‐0
Page75
GNA
7430‐
serManual
1Rev.B

S1PayloadContents
ByteOffset Name Format Scaling Units Description
10 zRate I2 7*pi/2^16
16)
(1260°/2^
rad/s
(°/sec)
Zangularrate
12 xRateTemp I2 200/2^16 deg.C Xratetemperature
14 yRateTemp I2 200/2^16 deg.C Yratetemperature
16 zRateTemp I2 200/2^16 deg.C Zratetemperature
18 boardTemp I2 200/2^16 deg.C CPUboardtemperature
20 Counter U2 — packets Outputpacketcounter
22 BITstatus U2 — — MasterBITandStatus
ScaledSensorDataPacket2(Delta‐Theta,Delta‐V)
Table41S2DataPacket
ScaledSensorData(‘S2’=0x5332)
Preamble PacketType Length  Payload Termination
0x5555 0x5332 0x1C <S2payload> <CRC(U2)>
Thispacketcontainsscaledsensordatainthetraditionaldelta‐thetaanddelta‐velocityformatwithintegrationtime
equivalenttothepacketrate.Changesinbodyaxisanglesandvelocitiesareaccumulatedduringtheinterval
betweensuccessivepacketsasdeterminedbythepacketrate.Polledrequestsforthispacketwillproducevalues
accumul
atedsincethelastpollrequest,andthus,aresubjecttooverflow(datatypewraparound).
• Datainvolvingangularmeasurementsincludethefactorpiinthescalingandcanbeinterpretedineither
radiansordegrees.
• ad (‐630,+630)Δ degrees.
DeltaAngle:scaledtorangeof3.5*(‐pi,+pi)Δ r iansor
• DeltaVelocity:scaledtoarangeof(‐100,+100)Δ m/s.
Table42S2Payload
S2PayloadContents
Byte
fset
Of
Name Format Scaling Units Description
0 xDeltaVel I4 200/2^32 Δm/s Xdeltavelocity
4 yDeltaVel I4 200/2^32 Δm/s Ydeltavelocity
8 zDeltaVel I4 200/2^32 Δm/s Zdeltavelocity
12 xDeltaAngle I4 7*pi/2^32
2)
(1260°/2^3
Δrad
(Δ°)
Xdeltaangle
16 yDeltaAngle I4 7*pi/2^32
2)
(1260°/2^3
Δrad
(Δ°)
Ydeltaangle
20 zDeltaAngle I4 7*pi/2^32
60°/2^32)
(12
Δrad
(Δ°)
Zdeltaangle
24 Counter U2 — packets Outputpacketcounter
26 BITstatus U2 — — MasterBITandStatus