Moog Crossbow NAV440 Series - Manual (Page 73)

7430‐0131‐01 Rev. F
age 73 NAV440 User Manual P
Scaled Sensor Data (‘S1’ = 0x5331)
Preamble ype h Packet T Lengt Payload Termination
0x5555 0x5331 0x18 <S1 payload> <CRC (U2)>
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 42 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
6) (1260°/2^1
rad/s
) (°/sec
Y angular rate
10 zRate I2 7*pi/2^16
16) (1260°/2^
rad/s
(°/sec) Z angular rate
12 xRateTemp I2 200/2^16 deg. C X rate temperature
14 yRateTemp I2 200/2^16 deg. C Y rate temperature
16 zRateTemp I2 200/2^16 deg. C Z rate temperature
18 boardTemp I2 200/2^16 deg. C CPU board temperature
20 Counter U2 — packets Output packet counter
22 BITstatus U2 — — Master BIT and Status
Scaled Sensor Data Packet 2 (Delta‐Theta, Delta‐V)
Table 43 Scaled Sensor Data Packet 2
Scaled Sensor Data (‘S2’ = 0x5332)
Preamble Packet Type Length Payload Termination
0x5555 0x5332 0x1C <S2 payload> <CRC (U2)>
This packet contains scaled sensor data in the traditional delta‐theta and delta‐velocity format with integration time
equivalent to the packet rate. Changes in body axis angles and velocities are accumulated during the interval