Owner's manual

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Page74
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NAV440UserManual
7430‐0131‐01Rev.F
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betweensuccessivepacketsasdeterminedbythepacketrate.Polledrequestsforthispacketwillproducevalues
accumul
atedsincethelastpollrequest,andthus,aresubjecttooverflow(datatypewraparound).
• Datainvolvingangularmeasurementsincludethefactorpiinthescalingandcanbeinterpretedineither
radiansordegrees.
• ad (‐630,+630)Δ degrees.
DeltaAngle:scaledtorangeof3.5*(‐pi,+pi)Δ r iansor
• DeltaVelocity:scaledtoarangeof(‐100,+100)Δ m/s.
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Table44S2Payload
S2PayloadContents
Byte
fset
Of
Name Format Scaling Units Description
0 xDeltaVel I4 200/2^32 Δm/s Xdeltavelocity
4 yDeltaVel I4 200/2^32 Δm/s Ydeltavelocity
8 zDeltaVel I4 200/2^32 Δm/s Zdeltavelocity
12 xDeltaAngle I4 7*pi/2^32
2)
(1260°/2^3
Δrad
(Δ°)
Xdeltaangle
16 yDeltaAngle I4 7*pi/2^32
2)
(1260°/2^3
Δrad
(Δ°)
Ydeltaangle
20 zDeltaAngle I4 7*pi/2^32
60°/2^32)
(12
Δrad
(Δ°)
Zdeltaangle
24 Counter U2 — packets Outputpacketcounter
26 BITstatus U2 — — MasterBITandStatus
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AngleDataPacket0
Table45AngleDataPacket
AngleData(‘A0’=0x4130)
Preamble PacketType Length Payload Termination
0x5555 0x4130 0x1E <A0payload> <CRC(U2)>
Thispacketcontainsangle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
•
Magnetometers:scaledtoarangeof(‐1,+1)Gauss
• Temperature:scaledtoarangeof(‐100,+100)°C