Owner's manual

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NAV440
7430‐01
Page75
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UserManual
31‐01Rev.F
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Table46A0Payload
A0PayloadContents
Byte
ffset
O
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 yawAngleMag I2 2*pi/2^16
)
(360°/2^16
Radians
(°)
Yawangle(magneticnorth)
6 xRateCorrected I2 7*pi/2^16
6)
(1260°/2^1
rad/s
)
(°/sec
XangularRateCorrected
8 yRateCorrected I2 7*pi/2^16
6)
(1260°/2^1
rad/s
)
(°/sec
YangularRateCorrected
10 zRateCorrected I2 7*pi/2^16
^16)
(1260°/2
rad/s
/sec)
(°
ZangularRateCorrected
12 xAccelCorrected I2 20/2^16 g XAccelCorrected
14 yAccelCorrected I2 20/2^16 g YAccelCorrected
16 zAccelCorrected I2 20/2^16 g ZAccelCorrected
18 xMag I2 2/2^16 Gauss Xmagnetometer
20 yMag I2 2/2^16 Gauss Ymagnetometer
22 zMag I2 2/2^16 Gauss Zmagnetometer
24 xRateTemp I2 200/2^16 degC Xratetemperature
26 GPSITOW U2 truncated ms GPSITOW(lower2bytes)
28 BITstatus U2 — — MasterBITandStatus
AngleDataPacket1(DefaultAHRSData)
Table47AngleDataPacket1
AngleData(‘A1’=0x4131)
Preamble PacketType Length Payload Termination
0x5555 0x4131 0x20 <A1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