Moog Crossbow GNAV540 - Manual (Page 78)

ge 78 AV540 User Manual
7430‐0808‐01 Rev. B
Pa GN
A1 Payload Contents
Byte
set Off
Name Format Scaling Units Description
18 xMag I2 2/2^16 Gauss X magnetometer
20 yMag I2 2/2^16 Gauss Y magnetometer
22 zMag I2 2/2^16 Gauss Z magnetometer
24 xRateTemp I2 200/2^16 Deg C X rate temperature
26 timeITOW U4 1 ms DMU ITOW (sync to GPS)
30 BITstatus U2 — — Master BIT and Status
Nav Data Packet 0
Table 47 N0 Data Packet
Nav Data (‘N0’ = 0x4E30)
Preamble Packet Type Length Payload Termination
0x5555 0x4E30 0x20
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 or 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
•
°C Temperature: scaled to a range of (‐100, +100)
• Velocities: scaled to a range of (‐256,256) m/s
•
epresentation. Altitude: scaled to a range of (‐100, 16284) m using a shifted 2’s complement r
Longitude and latitude: scaled to a range of (‐pi, pi) or (‐180 deg to +180 deg) •
Table 48 N0 Payload
N0 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 (true north)
6 xRateCorrected I2 7*pi/2^16 rad/s X angular rate corrected