Owner's manual
NAV
7430‐0131‐01Rev.F
Page87
440UserManual
HardandSoftIronValues
Thesefieldsallowaccesstohardironbiasandsoftironscaleratiovaluesformagnetometeralignment.The
calibrationvaluesfortheinternalmagnetometer:
Table63InternalMagnetometerCalibrationValues
FieldName FieldID Format Scaling Units
XHardIronBias 0x0009 I2 2/2^16 Gauss
YHardIronBias 0x000A I2 2/2^16 Gauss
SoftIronScaleRatio 0x000B U2 2/2^16 ‐
SoftIronAngle 0x000E I2 2*pi/2^16 Radians
Thehardironbiasvaluesarescaledfrom(‐1,1)Gauss.Thesevaluesaresubtractedfromthetangentplane
magnetometervectorbeforeheadingiscalculated.Thesoftironscaleratioisscaledfrom(0,2)andismultipliedby
thetangentplanexmagnetometervaluebeforeheadingiscalculated.
Table64HeadingTrackOffset
HeadingTrackOffset
Thisfieldisusedtosettheoffsetbetweenvehicleheadingandvehicletracktobeusedbythenavigationmodefilter
whennomagnetometerheadingmeasurementsareavailable.
FieldName FieldID Format Scaling Units
HeadingTrackOffset 0x000C I2
2*pi/2^16
(360°/2^16)
Radians(heading‐
track)(°)
CommandstoProgramConfiguration
WriteFieldsCommand
Table65WriteFields
WriteFields 746(‘WF’=0x5 )
Preamble PacketType Length Payload Termination
0x5555 0x5746 1+numFields*4 <WFpayload> <CRC(U2)>
Thiscommandallowstheusertowritedefaultpower‐upconfigurationfieldstotheEEPROM.Writingthedefault
configurationwillnottakeeffectuntiltheunitispowercycled.
NumFieldsisthenumberofwordstobewritten.
The
field0,field1,etc.arethefieldIDsthatwillbewrittenwiththefield0Data,field1Data,etc.,respectively.Theunit
willnotwrit
etocalibrationoralgorithmfields.
• Ifatleastonefieldissuccessfullywritten,theunitwillrespondwithawritefieldresponsecontaining
thefieldIDsofthesuccessfullywrittenfields.
• Ifanyfieldisunabletobewritten,theunitwillrespondwithanerrorresponse.
Bothwritefieldsandanerrorresponsemaybereceivedasaresultofawritefieldscommand.Attemptsto
writeafieldwithaninvalidvalueisonewaytogenerateanerrorresponse.ToviewatableoffieldIDsand
validfieldvalues,referto
ConfigurationFieldsonpage83.