Moog Crossbow NAV440 Series - Manual (Page 80)

Page 80
NAV440 User Manual
7430‐0131‐01 Rev. F
N1 Payload Contents
Byte
set
Name Format Scaling Units
Off
Description
24 longitudeGPS I4 2*pi/2^32
) (360°/2^32
Radians
(°) GPS Longitude
28 latitudeGPS I4 2*pi/2^32
) (360°/2^32
Rad ians
(°)
GPS Latitude
32 altitudeGPS I2* 2^14/2^16 m GPS altitude (‐100,16284)
34 xRateTemp I2 200/2^16 deg C X rate sensor temperature
36 timeITOW U4 1 ms DMU ITOW (sync to GPS)
40 BITstatus U2 — — Master BIT and Status
Angle Data Packet B1 (Custom VG Data)
Table 54 Angle Data Packet B1
Angle Data (‘B1’ = 0x4231)
Preamble Packet Type Length Payload Termination
0x5555 0x4231 0x12 <B1 payload> <CRC (U2)>
T
his packet contains selected angle and sensor data.
Table 55 B1 Payload
B1 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 (free)
6 zRateCorrected I2 7*pi/2^16
^16) (1260°/2
rad/s
/sec) (°
Z angular rate corrected
8 xAccel I2 20/2^16 g X accelerometer
10 yAccel I2 20/2^16 g Y accelerometer
12 timeITOW U4 1 ms DMU ITOW (sync to GPS)
16 BITstatus U2 — — Master BIT and Status