Owner's manual

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Page78
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NAV440UserManual
7430‐0131‐01Rev.F
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Thispacketcontainsnavigation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
•
Temperature:scaledtoarangeof(‐100,+100)°C
•
Velocitiesarescaledtoarangeof(‐256,256)m/s
• resentation.
Altitudeisscaledtoarangeof(‐100,16284)musingashifted2’scomplementrep
• Longitudeandlatitudearescaledtoarangeof(‐pi,pi)or(‐180degto+180deg).
Table51N0Payload
N0PayloadContents
Byte
fset
Of
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(true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
c)
(°/se
Zangularratecorrected
12 nVel I2 512/2^16 m/s Northvelocity
14 eVel I2 512/2^16 m/s Eastvelocity
16 dVel I2 512/2^16 m/s Downvelocity
18 longitudeGPS I4 2*pi/2^32
)
(360°/2^32
Radians
(°)
GPSLongitude
22 latitudeGPS I4 2*pi/2^32
)
(360°/2^32
Rad

ians
(°)
GPSLatitude
26 altitudeGPS I2* 2^14/2^16 m GPSaltitude(‐100,16284)
28 GPSITOW U2 truncated ms GPSITOW(lower2bytes)
30 BITstatus U2 — — MasterBITandStatus