Data Sheet

UM7 DATASHEET
Rev. 1.6 – Released 1/10/2016
22
This is the hex representation of the single-byte checksum of the packet. The
checksum is computed using the exclusive-or of every byte in the packet
except the * character preceding the checksum and the $ starting the packet.
The checksum computation does include commas in the packet.
Pose packet - $PCHRP
DESCRIPTION
The NMEA pose packet contains sensor position and Euler Angle attitude. The position
information in this packet is given in meters away from the sensor’s configurable home lat/lon
and altitude (the GPS Pose packet provides position in terms of latitude/longitude instead).
PACKET FORMAT
$PCHRP,time,pn,pe,alt,roll,pitch,yaw,heading,*checksum
e.g. $PCHRP,105.015,-501.234,-501.234,15.521,20.32,20.32,20.32,20.32,*47
PACKET FIELD DESCRIPTION
Field
Description
$PCHRP
Header field, always precedes the pose packet
time
e.g. 105.015
This field can be up to 13 digits long. There will always be 3 decimal digits.
If no GPS is connected, this represents the amount of time in seconds since the
sensor was last turned on. If GPS with PPS is properly connected, this is
synchronized to UTC time of day.
pn
e.g. -501.234
This field can be up to 10 digits long. There will always be 3 decimal digits.
If GPS is connected, this represents the sensor’s position in meters north of
the configurable home position. If the sensor is more than 99 km away from
its home position, the fractional digits are truncated.
pe
e.g. -501.234
This field can be up to 10 digits long. There will always be 3 decimal digits.