Instruction Manual

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ge78
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AV540UserManual
7430‐0808‐01Rev.B
Pa GN
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A1PayloadContents
Byte
set
Off
Name Format Scaling  Units Description
18 xMag I2 2/2^16 Gauss Xmagnetometer
20 yMag I2 2/2^16 Gauss Ymagnetometer
22 zMag I2 2/2^16 Gauss Zmagnetometer
24 xRateTemp I2 200/2^16 DegC Xratetemperature
26 timeITOW U4 1 ms DMUITOW(synctoGPS)
30 BITstatus U2 — — MasterBITandStatus
NavDataPacket0
Table47N0DataPacket
NavData(‘N0’=0x4E30)
Preamble PacketType Length  Payload Termination
0x5555 0x4E30 0x20 <N0payload> <CRC(U2)>
Thispacketcontainsnavigation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
• °C
Temperature:scaledtoarangeof(‐100,+100)
•
Velocities:scaledtoarangeof(‐256,256)m/s
• epresentation.
Altitude:scaledtoarangeof(‐100,16284)musingashifted2’scomplementr
Longitudeandlatitude:scaledtoarangeof(‐pi,pi)or(‐180degto+180deg)
•
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Table48N0Payload
N0PayloadContents
Byte
fset
Of
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 yawAngleTrue I2 2*pi/2^16
)
(360°/2^16
Radians
(°)
Yawangle(truenorth)
6 xRateCorrected I2 7*pi/2^16 rad/s Xangularratecorrected