Moog Crossbow NAV440 Series - Manual (Page 76)

Page 76
NAV440 User Manual
7430‐0131‐01 Rev. F
• Magnetometers: scaled to a range of (‐1,+1) Gauss
• Temperature: scaled to a range of (‐100, +100) °C
Table 48 A1 Payload
A1 Payload Contents
Byte
ffset O
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 yawAngleMag I2 2*pi/2^16
) (360°/2^16
Radians
(°) Yaw angle (magnetic north)
6 xRateCorrected I2 7*pi/2^16
6) (1260°/2^1
rad/s
) (°/sec
X angular rate Corrected
8 yRateCorrected I2 7*pi/2^16
6) (1260°/2^1
rad/s
) (°/sec
Y angular rate Corrected
10 zRateCorrected I2 7*pi/2^16
^16) (1260°/2
rad/s
/sec) (°
Z angular rate Corrected
12 xAccel I2 20/2^16 g X accelerometer
14 yAccel I2 20/2^16 g Y accelerometer
16 zAccel I2 20/2^16 g Z accelerometer
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
Angle Data Packet 2 (Default VG Data)
Table 49 Angle Data Packet 2
Angle Data (‘A2’ = 0x4132)
Preamble Packet Type Length Payload Termination
0x5555 0x4132 0x1E <A2 payload> <CRC (U2)>