Owner's manual

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Page76
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NAV440UserManual
7430‐0131‐01Rev.F
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• Magnetometers:scaledtoarangeof(‐1,+1)Gauss
• Temperature:scaledtoarangeof(‐100,+100)°C
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Table48A1Payload
A1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rateCorrected
8 yRateCorrected I2 7*pi/2^16
6)
(1260°/2^1
rad/s
)
(°/sec
YangularrateCorrected
10 zRateCorrected I2 7*pi/2^16
^16)
(1260°/2
rad/s
/sec)
(°
ZangularrateCorrected
12 xAccel I2 20/2^16 g Xaccelerometer
14 yAccel I2 20/2^16 g Yaccelerometer
16 zAccel I2 20/2^16 g Zaccelerometer
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 timeITOW U4 1 ms DMUITOW(synctoGPS)
30 BITstatus U2 — — MasterBITandStatus
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AngleDataPacket2(DefaultVGData)
Table49AngleDataPacket2
AngleData(‘A2’=0x4132)
Preamble PacketType Length Payload Termination
0x5555 0x4132 0x1E <A2payload> <CRC(U2)>