Owner's manual

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Page80
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NAV440UserManual
7430‐0131‐01Rev.F
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N1PayloadContents
Byte
set
Name Format Scaling Units
Off
Description
24 longitudeGPS I4 2*pi/2^32
)
(360°/2^32
Radians
(°)
GPSLongitude
28 latitudeGPS I4 2*pi/2^32
)
(360°/2^32
Rad

ians
(°)
GPSLatitude
32 altitudeGPS I2* 2^14/2^16 m GPSaltitude(‐100,16284)
34 xRateTemp I2 200/2^16 degC Xratesensortemperature
36 timeITOW U4 1 ms DMUITOW(synctoGPS)
40 BITstatus U2 — — MasterBITandStatus
AngleDataPacketB1(CustomVGData)
Table54AngleDataPacketB1
AngleData(‘B1’=0x4231)
Preamble PacketType Length Payload Termination
0x5555 0x4231 0x12 <B1payload> <CRC(U2)>
T

hispacketcontainsselectedangleandsensordata.
Table55B1Payload
B1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(free)
6 zRateCorrected I2 7*pi/2^16
^16)
(1260°/2
rad/s
/sec)
(°
Zangularratecorrected
8 xAccel I2 20/2^16 g Xaccelerometer
10 yAccel I2 20/2^16 g Yaccelerometer
12 timeITOW U4 1 ms DMUITOW(synctoGPS)
16 BITstatus U2 — — MasterBITandStatus