Instruction Manual

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GNAV540Use nual
7430‐0808‐01Rev.B
Page77
rMa
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A0PayloadContents
Byte
set
Off
Name Format Scaling  Units Description
26 GPSITOW U2 truncated ms GPSITOW(lower2bytes)
28 BITstatus U2 — — MasterBITandStatus
AngleDataPacket1(DefaultAHRSData)
Table45A1DataPacket
AngleData(‘A1’=0x4131)
Preamble PacketType Length  Payload Termination
0x5555 0x4131 0x20 <A1payload> <CRC(U2)>
Thispacketcontainsangledataandselectedsensordatascaledinmostcasestoasigned2^162’scomplement
number.Datainvolvingangularmeasurementsincludethefactorpiinthescalingandcanbeinterpretedineither
radianso
rdegrees.
•
Angles:scaledtoarangeof(‐pi,+pi)or(‐180degto+180deg)
• (‐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
•
Magnetometers:scaledtoarangeof(‐1,+1)Gauss
• Temperature:scaledtoarangeof(‐100,+100)°C
Table46A1Payload
A1PayloadContents
Byte
ffset
O
Name Format Scaling  Units Description
0 rollAngle I2 2*pi/2^16
)
(360°/2^16
Radians
(°)
Rollangle
2 pitchAngle I2 2*pi/2^16
)
(360°/2^16
Radians
(°)
Pitchangle
4 yawAngleMag I2 2*pi/2^16
)
(360°/2^16
Radians
(°)
Yawangle(magneticnorth)
6 xRateCorrected I2 7*pi/2^16
6)
(1260°/2^1
rad/s
)
(°/sec
XangularrateCorrected
8 yRateCorrected I2 7*pi/2^16
6)
(1260°/2^1
rad/s
)
(°/sec
YangularrateCorrected
10 zRateCorrected I2 7*pi/2^16
^16)
(1260°/2
rad/s
/sec)
(°
ZangularrateCorrected
12 xAccel I2 20/2^16 g Xaccelerometer
14 yAccel I2 20/2^16 g Yaccelerometer
16 zAccel I2 20/2^16 g Zaccelerometer