Moog Crossbow NAV440 Series - Manual (Page 79)

440 anual
0‐013
Page 79 NAV
743
User M
1‐01 Rev. F
Nav Data Packet 1 (Default NAV)
Table 52 Nav Data Packet 1
Nav Data (‘N1’ = 0x4E31)
Preamble Packet Type Length Payload Termination
0x5555 0x4E31 0x2A <N1 payload> <CRC (U2)>
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
• Temperature: scaled to a range of (‐100, +100) °C
• Velocities are scaled to a range of (‐256,256) m/s
•
resentation. Altitude is scaled to a range of (‐100, 16284) m using a shifted 2’s complement rep
• Longitude and latitude are scaled to a range of (‐pi, pi) or (‐180 deg to +180 deg).
Table 53 N1 Payload
N1 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
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 nVel I2 512/2^16 m/s North velocity
20 eVel I2 512/2^16 m/s East velocity
22 dVel I2 512/2^16 m/s Down velocity