Owner's manual
7430‐0131‐01Rev.F
age73
NAV440UserManual P
ScaledSensorData(‘S1’=0x5331)
Preamble ype hPacketT Lengt Payload Termination
0x5555 0x5331 0x18 <S1payload> <CRC(U2)>
Thispacketcontainsscaledsensordata.Datainvolvingangularmeasurementsincludethefactorpiinthescaling
andcan
beinterpretedineitherradiansordegrees.
• (‐630deg/secto+630deg/sec)
Angularrates:scaledtorangeof3.5*(‐pi,+pi)or
•
Accelerometers:scaledtoarangeof(‐10,+10)g
• Temperature:scaledtoarangeof(‐100,+100)°C
Table42S1Payload
S1PayloadContents
ByteOffset Name Format Scaling Units Description
0 xAccel I2 20/2^16 g Xaccelerometer
2 yAccel I2 20/2^16 g Yaccelerometer
4 zAccel I2 20/2^16 g Zaccelerometer
6 xRate I2 7*pi/2^16
6)
(1260°/2^1
rad/s
)
(°/sec
Xangularrate
8 yRate I2 7*pi/2^16
6)
(1260°/2^1
rad/s
)
(°/sec
Yangularrate
10 zRate I2 7*pi/2^16
16)
(1260°/2^
rad/s
(°/sec)
Zangularrate
12 xRateTemp I2 200/2^16 deg.C Xratetemperature
14 yRateTemp I2 200/2^16 deg.C Yratetemperature
16 zRateTemp I2 200/2^16 deg.C Zratetemperature
18 boardTemp I2 200/2^16 deg.C CPUboardtemperature
20 Counter U2 — packets Outputpacketcounter
22 BITstatus U2 — — MasterBITandStatus
ScaledSensorDataPacket2(Delta‐Theta,Delta‐V)
Table43ScaledSensorDataPacket2
ScaledSensorData(‘S2’=0x5332)
Preamble PacketType Length Payload Termination
0x5555 0x5332 0x1C <S2payload> <CRC(U2)>
Thispacketcontainsscaledsensordatainthetraditionaldelta‐thetaanddelta‐velocityformatwithintegrationtime
equivalenttothepacketrate.Changesinbodyaxisanglesandvelocitiesareaccumulatedduringtheinterval