Moog Crossbow NAV440 Series - Manual (Page 74)

Page 74
NAV440 User Manual
7430‐0131‐01 Rev. F
between successive packets as determined by the packet rate. Polled requests for this packet will produce values
accumulated since the last poll request, and thus, are subject to overflow (data type wrap around).
• Data involving angular measurements include the factor pi in the scaling and can be interpreted in either
radians or degrees.
• ad (‐630, +630) Δ degrees. Delta Angle: scaled to range of 3.5* (‐pi, +pi) Δ r ians or
• Delta Velocity: scaled to a range of (‐100, +100) Δ m/s.
Table 44 S2 Payload
S2 Payload Contents
Byte
fset Of
Name Format Scaling Units Description
0 xDeltaVel I4 200/2^32 Δ m/s X delta velocity
4 yDeltaVel I4 200/2^32 Δ m/s Y delta velocity
8 zDeltaVel I4 200/2^32 Δ m/s Z delta velocity
12 xDeltaAngle I4 7*pi/2^32
2) (1260°/2^3
Δ rad
(Δ °) X delta angle
16 yDeltaAngle I4 7*pi/2^32
2) (1260°/2^3
Δ rad
(Δ °) Y delta angle
20 zDeltaAngle I4 7*pi/2^32
60°/2^32) (12
Δ rad
(Δ °) Z delta angle
24 Counter U2 — packets Output packet counter
26 BITstatus U2 — — Master BIT and Status
Angle Data Packet 0
Table 45 Angle Data Packet
Angle Data (‘A0’ = 0x4130)
Preamble Packet Type Length Payload Termination
0x5555 0x4130 0x1E <A0 payload> <CRC (U2)>
This packet contains angle 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
• Magnetometers: scaled to a range of (‐1,+1) Gauss
• Temperature: scaled to a range of (‐100, +100) °C