Owner's manual


Page72
NAV440UserManual
7430‐0131‐01Rev.F
Preamble PacketType Length Payload Termination
0x5555 0x5330 0x1E <S0payload> <CRC(U2)>
Thispacketcontainsscaledsensordata.Thescaledsensordataisfixedpoint,2bytespersensor,MSBfirst,for13
sensorsinthefollowingorder:accels(x,y,z);gyros(x,y,z);mags(x,y,z);temps(x,y,z,board).Datainvolvingangular
measure ordegrees.
mentsincludethefactorpiinthescalingandcanbeinterpretedineitherradians
(‐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
Table40S0Payload
S0PayloadContents
Byte
ffset
O
Name Format Scaling Units Description
0 xAccel I2 20/2^16 g Xaccelerometer
2 yAccel I2 20/2^16 g Yaccelerometer
4 zAccel I2 20/2^16 g Zaccelerometer
6 xRate I2 7*pi/2^16
6)
(1260°/2^1
rad/s
)
(°/sec
Xangularrate
8 yRate I2 7*pi/2^16
6)
(1260°/2^1
rad/s
)
(°/sec
Yangularrate
10 zRate I2 7*pi/2^16
2^16)
(1260°/
rad/s
(°/sec)
Zangularrate
12 xMag I2 2/2^16 Gauss Xmagnetometer
14 yMag I2 2/2^16 Gauss Ymagnetometer
16 zMag I2 2/2^16 Gauss Zmagnetometer
18 xRateTemp I2 200/2^16 deg.C Xratetemperature
20 yRateTemp I2 200/2^16 deg.C Yratetemperature
22 zRateTemp I2 200/2^16 deg.C Zratetemperature
24 boardTemp I2 200/2^16 deg.C CPUboardtemperature
26 GPSITOW U2 truncated ms GPSITOW(lower2bytes)
28 BITstatus U2 — — MasterBITandStatus
ScaledSensorDataPacket1(DefaultIMUData)
Table41ScaledSensorDataPacket1
ScaledSensorData(‘S1’=0x5331)
Preamble PacketType Length Payload Termination