Instruction Manual

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G nual
7430‐0808‐01Rev.B
Page89
NAV540UserMa
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AlgorithmAspect Bits Values
UseMags 1
0:Donotusemagstostabilizehe
openlooporbestabilizedbyGPS
ading(headingwillrun
track)
1:Usemagstostabilizeheading
UseGPS 2 0:DonotuseGPStostabilizethesystem,
1:UseGPSwhenavailable
StationaryYawLock 3
0:DonotlockyawwhenGPSspeedisnea
m/s)
rzero(<0.75
1:LockyawwhenGPSspeedisnearzero
RestartonOver‐range 4 0:Donotrestartthesystemafterasensorover

‐range,
1:restartthesystemafterasensorover‐range
DynamicMotion 5 0:vehicleisstatic,forcehighgaincorrections
hicleisdynamic,usenominalcorrections
1:ve
Reserved 6 N/A
Internal/ExternalMags 7 0:usetheinternalmagnetometer
1:usetheexternalmagnetometer
NOTE:whetherornotthemagnetometerisusedto
tintheUseMagsbitoftheUser
.
updatetheheadingisse
Behaviorconfiguration
Internal/ExternalGPS 8 0:usetheinternalGPS
1:usetheexternalGPS
Note:whetherornottheGPSinputisusedinthe
ithmissetinthe
algor
confi
UseGPSbitoftheUserBehavior
guration
Reserved 9:15 N/A
ThefollowingtableclarifiestherelationshipoftheUseMagsbitandtheInternal/ExternalMagsbit
Table59InternalExternalMagsBit
UseMags Internal/ExternalMags Resul t
0 0 Themagnetometerisnotused
0 1 Themagnetometerisnotused
1 0
Theheadingisupdatedwiththeinternal
magnetometer
1 1
Theheadingisupdatedwiththeexternal
magnetometer
HardandSoftIronValues
Thesefieldsallowaccesstohardironbiasandsoftironscaleratiovaluesformagnetometeralignment.The
calibrationvaluesfortheinternalmagnetometer:
Table60InternalMagnetometerCalibrationValues
FieldName FieldID Format Scaling Units
XHardIronBias 0x0009 I2 2/2^16 Gauss