Moog Crossbow NAV440 Series - Manual (Page 72)

Page 72
NAV440 User Manual
7430‐0131‐01 Rev. F
Preamble Packet Type Length Payload Termination
0x5555 0x5330 0x1E <S0 payload> <CRC (U2)>
This packet contains scaled sensor data. The scaled sensor data is fixed point, 2 bytes per sensor, MSB first, for 13
sensors in the following order: accels(x,y,z); gyros(x,y,z); mags(x,y,z); temps(x,y,z,board). Data involving angular
measure
or degrees. ments include the factor pi in the scaling and can be interpreted in either radians
• (‐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
• Magnetometers: scaled to a range of (‐1,+1) Gauss
• Temperature: scaled to a range of (‐100, +100)°C
Table 40 S0 Payload
S0 Payload Contents
Byte
ffset O
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
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 41 Scaled Sensor Data Packet 1
Scaled Sensor Data (‘S1’ = 0x5331)
Preamble Packet Type Length Payload Termination