Instruction Manual

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GNAV540UserManual
7430‐0808‐01Rev.B
Page83
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Table54N4Payload
N4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
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
18 nVel I2 512/2^16 m/s Northvelocity
20 eVel I2 512/2^16 m/s Eastvelocity
22 dVel I2 512/2^16 m/s Downvelocity
24 longitudeGPS I4 2*pi/2^32
)
(360°/2^32
Radians
(°)
GPSLongitude
28 latitudeGPS I4 2*pi/2^32
)
(360°/2^32
Rad

ians
(°)
GPSLatitude
32 altitudeGPS I4 2^29/2^32 m GPSaltitude
36 xRateTemp I2 200/2^16 degC Xratesensortemperature
38 timeITOW U4 1 ms DMUITOW(synctoGPS)
42 BITstatus U2 — — MasterBITandStatus
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