Moog Crossbow GNAV540 - Manual (Page 74)

Page 74
GNAV540 User Manual
7430‐0808‐01 Rev. B
S0 Payload Contents
Byte
ffset O
Name Format Scaling Units Description
8 yRate I2 7*pi/2^16
6) (1260°/2^1
rad/s
) (°/sec
Y angular rate
10 zRate I2 7*pi/2^16
2^16) (1260°/
rad/s
(°/sec) Z angular rate
12 xMag I2 2/2^16 Gauss X magnetometer
14 yMag I2 2/2^16 Gauss Y magnetometer
16 zMag I2 2/2^16 Gauss Z magnetometer
18 xRateTemp I2 200/2^16 deg. C X rate temperature
20 yRateTemp I2 200/2^16 deg. C Y rate temperature
22 zRateTemp I2 200/2^16 deg. C Z rate temperature
24 boardTemp I2 200/2^16 deg. C CPU board temperature
26 GPSITOW U2 truncated ms GPS ITOW (lower 2 bytes)
28 BITstatus U2 — — Master BIT and Status
Scaled Sensor Data Packet 1 (Default IMU Data)
Table 39 S1 Data Packet
Scaled Sensor Data (‘S1’ = 0x5331)
Preamble Packet Type Length Payload Termination
0x5555 0x5331 0x18
This packet contains scaled sensor data. Data involving angular measurements include the factor pi in the scaling
and can be interpreted in either radians or degrees.
• (‐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
Table 40 S1 Payload
S1 Payload Contents
Byte Offset Name Format Scaling Units Description
0 xAccel I2 20/2^16 g X accelerometer
2 yAccel I2 20/2^16 g Y accelerometer
4 zAccel I2 20/2^16 g Z accelerometer
6 xRate I2 7*pi/2^16
6) (1260°/2^1
rad/s
) (°/sec
X angular rate
8 yRate I2 7*pi/2^16
(1260°/2^16) rad/s
(°/sec) Y angular rate