Owner's manual


N ser
7430‐0131‐01Rev.F
Page77
AV440U Manual
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
Table50A2Payload
A2PayloadContents
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 yawAngleTrue I2 2*pi/2^16
)
(360°/2^16
Radians
(°)
Yawangle(free)
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 xRateTemp I2 2/2^16 deg.C Xratetemperature
20 yRateTemp I2 2/2^16 deg.C Yratetemperature
22 zRateTemp I2 2/2^16 deg.C Zratetemperature
24 timeITOW U4 1 ms DMUITOW(synctoGPS)
28 BITstatus U2 — — MasterBITandStatus
NavDataPacket0
NavData(‘N0’=0x4E30)
Preamble PacketType Length Payload Termination
0x5555 0x4E30 0x20 <N0payload> <CRC(U2)>