Owner's manual


440 anual
0‐013
Page79
NAV
743
UserM
1‐01Rev.F
NavDataPacket1(DefaultNAV)
Table52NavDataPacket1
NavData(‘N1’=0x4E31)
Preamble PacketType Length Payload Termination
0x5555 0x4E31 0x2A <N1payload> <CRC(U2)>
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).
Table53N1Payload
N1PayloadContents
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
/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 nVel I2 512/2^16 m/s Northvelocity
20 eVel I2 512/2^16 m/s Eastvelocity
22 dVel I2 512/2^16 m/s Downvelocity