Document Outline

• Preface
  • Intended Audience
  • Contents
• Chapter / Appendix
• Summary
  • Related Documents
• Title
• Description
  • Text Conventions
• Convention
• Definition
  • Glossary
• Term
• Definition
• Chapter 1. Overview
  • Features
    • System Performance
• Measurement
• Accuracy
  • Signal Interface
• Connection
• Description
  • Software Compatibility
  • GNAV540 Unit
• Chapter 2. GNfAV540 Functions
  • GNAV540 System
  • Configuring GNAV540 Functions
  • Software Structure
  • GNAV540 Default Coordinate System
    • Advanced Settings
  • IMU Function
    • IMU Advanced Settings
• Setting
• Default Value
• Comments
  • Vertical Gyroscope (VG) Function
    • VG Function Advanced Settings
• Setting
• Default Value
• Comments
  • AHRS Function
    • AHRS Advanced Settings
• Setting
• Default Value
• Comments
  • NAV Function
    • NAV Advanced Settings
• Setting
• Default Value
• Comments
• Chapter 3. Hardware Interface
  • J1—I/O Connector
• Pin No.
• Signal
• Pin No.
• Signal
  • J2—GPS Antenna Connector
  • I/O Port Interface
    • Port A: User (computer), RS422 serial data interface
      • Port B: External GPS, RS422 serial interface
      • Port C: External Magnetometer, RS422 serial interface
      • Cable Field Requirements
  • Signals
    • Hardware BIT Error Output
    • 1 PPS Input Interface
    • 1 PPS Output Interface
• Chapter 4. Magnetometer Calibration and Alignment Guidelines
  • Compensation for Magnetic Fields
  • Magnetometer Alignment Using NAV-VIEW 2.2
  • Magnetometer Alignment Using Code
  • Installation Guidelines—External Magnetometer
    • Field Installation
    • EMI Protection and Grounding
    • Serial Data Interface
• Chapter 5. Installation Guidelines
  • Overview
  • Installation Requirements
    • Computer
      • Communication Port
      • Power and Hardware
  • 1. Install Software—NAV-VIEW 2.2
    • Instructions
  • 2. Prepare the Communication Port
  • 3. Connect the GPS Antenna
    • Instructions
  • 4. Turn on the GNAV540
    • Instructions
    • Trouble-Shooting Tips
• Chapter 6. Viewing and Logging Data with NAV-VIEW 2.2
  • Communication Port
    • Serial Port
      • Ethernet Port
  • Record Data
  • Playback Data
  • Raw Data Console
  • Horizon and Compass Views
  • Packet Statistics View
• Chapter 7. Configuring GNAV540 with NAV-VIEW 2.2
  • Viewing Current Configurations
  • Configuring the Unit
    • General
      • Viewing Current Configuration
      • Changing Configurations
      • Orientation
    • Advanced
      • Viewing Current Configuration
      • Changing Configurations
    • BIT Configuration
      • Viewing Current Configuration
      • Changing Configurations
  • Aligning the Magnetometer
    • Aligning Internal Magnetometer
      • Aligning External Magnetometer
      • Leveling Alignment
      • Rotational Alignment
• Chapter 8. Data Packet Structure
  • General Settings
  • Number Formats
• Descriptor
• Description
• Size (bytes)
• Comment
• Range
  • Packet Format
• ASCII Mnemonic
• <2-byte packet type (U2)>
• <payload byte-length (U1)>
• Description
• Type
• Available Functions
• Link Test
• Interactive Commands
• Output Messages: Status and Other, (Polled Only)
• Output Messages: Measurement Data (Continuous or Polled)
• Advanced Commands
• Chapter 9. Communicating with the GNAV540 Unit
• Ping (‘PK’ = 0x504B)
• Preamble
• Packet Type
• Length
• Termination
• Ping (‘PK’ = 0x504B)
• Preamble
• Packet Type
• Length
• Termination
• Echo (‘CH’ = 0x4348)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• Echo Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
  • Interactive Commands
• Get Packet (‘GP’ = 0x4750)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• GP Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
• Algorithm Reset (‘AR’ = 0x4152)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• Algorithm Reset (‘AR’ = 0x4152)
• Preamble
• Packet Type
• Length
• Termination
• Software Reset (‘SR’ = 0x5352)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• Software Reset (‘SR’ = 0x5352)
• Preamble
• Packet Type
• Length
• Termination
• Calibrate (‘WC’ = 0x5743)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• WC Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
• calibrationRequest
• Description
• Calibrate (‘WC’ = 0x5743)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• WC Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
• Calibrate Completed (‘CC’ = 0x4343)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• CC Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
• Error Response (ASCII NAK, NAK = 0x1515)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• NAK Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
  • Output Packets (Polled)
• Identification Data (‘ID’ = 0x4944)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• ID Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
• Version Data (‘VR’ = 0x5652)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• VR Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
• Test (‘T2’ = 0x5432)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• T2 Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
  • Output Packets (Polled or Continuous)
• Scaled Sensor Data (‘S0’ = 0x5330)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• S0 Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
• Scaled Sensor Data (‘S1’ = 0x5331)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• S1 Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
• Scaled Sensor Data (‘S2’ = 0x5332)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• S2 Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
• Angle Data (‘A0’ = 0x4130)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• A0 Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
• Angle Data (‘A1’ = 0x4131)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• A1 Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
• Nav Data (‘N0’ = 0x4E30)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• N0 Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
• Nav Data (‘N1’ = 0x4E31)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• N1 Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
  • Nav Data Packet 3 (default packet)
• Nav Data (‘N3’ = 0x4E33)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
  • Nav Data Packet 4
• Nav Data (‘N4’ = 0x4E34)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• N4 Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
• Chapter 10. Programming Guidelines
  • Configuration Fields
• index
• Configuration fields
• Field ID
• Valid Values
• Description
  • Continuous Packet Type Field
  • Orientation Field
• Axis
• Bits
• Values
• Orientation Field Value
• X Axis
• Y Axis
• Z Axis
  • User Behavior Switches
• Algorithm Aspect
• Bits
• Values
• Use Mags
• Internal / External Mags
• Result
  • Hard and Soft Iron Values
• Field Name
• Field ID
• Format
• Scaling
• Units
• Field Name
• Field ID
• Format
• Scaling
• Units
  • Heading Track Offset
• Field Name
• Field ID
• Format
• Scaling
• Units
  • Commands to Program Configuration
• Write Fields (‘WF’ = 0x5746)
• WF Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
• Write Fields (‘WF’ = 0x5746)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• WF Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
• Set Fields (‘SF’ = 0x5346)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• SF Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
• Write Fields (‘WF’ = 0x5746)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• WF Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
• Read Fields (‘RF’ = 0x5246)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• RF Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
• Read Fields (‘RF’ = 0x5246)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• RF Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
  • Get Fields Command
• Get Fields (‘GF’ = 0x4746)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• GF Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
• Get Fields (‘GF’ = 0x4746)
• Preamble
• Packet Type
• Length
• Payload
• Termination
• GF Payload Contents
• Byte Offset
• Name
• Format
• Scaling
• Units
• Description
• Chapter 11. Built In Test (BIT)
  • BIT Status Fields
• BITstatus Field
• Bits
• Value
• Configurable
• Error Byte fields (BIT)
• Status Byte Fields
• Status Byte Field
• Default Values
  • hardwareBIT Field
• hardwareBIT Field
• Bits
• Values
• Category
  • hardwarePowerBIT Field
• hardwarePowerBIT Field
• Bit
• Values
• Category
  • hardwareEnvironmentalBIT Field
• hardwareEnvironmentalBIT Field
• Bits
• Values
• Category
  • comBIT Field
• comBIT Field
• Bits
• Values
• Category
  • comSerialABIT Field
• comSerialABIT Field
• Bits
• Values
• Category
  • comSerialBBIT Field
• comSerialBBIT Field
• Bits
• Values
• Category
  • comSerialCBIT Field
• comSerialCBIT Field
• Bits
• Values
• Category
  • softwareBIT Field
• softwareBIT Field
• Bits
• Values
• Category
  • softwareAlgorithmBIT Field
• SoftwareAlgorithmBIT Field
• Bits
• Values
• Category
  • softwareDataBIT Field
• SoftwareDataBIT Field
• Bits
• Values
• Category
  • hardwareStatus Field
• hardwareStatus Field
• Bits
• Values
  • comStatus Field
• comStatus Field
• Bits
• Values
  • SoftwareStatus Field
• softwareStatus Field
• Bits
• Values
  • sensorStatus Field
• sensorStatus Field
• Bits
• Values
  • Configuring masterStatus
• Configuration Fields
• Field ID
• Valid Values
• Description
  • BIT Field Hierarchy
• Appendix A. Application Examples
  • Fixed Wing Aircraft
• Recommended Settings
• Pre-launch or known straight and level un-accelerated flight
• Launch
• Normal Dynamics (Default)
• High Dynamics
  • Rotorcraft
  • Land Vehicle
  • Water Vehicle
• Appendix B. Sample Packet—Parser Code
  • Overview
  • Sample Code
• Appendix C. Sample Packet Decoding
• Appendix D. Mechanical Specifications
  • J1 Connector Interface
  • Specifications
  • Mechanical Drawings
  • Interface Cable—Accessory
• Appendix E. Crossbow Service Policies
  • Customer Service
  • Warranty
  • Returning Equipment
  • Source Code License
  • Contact Information
• Appendix F. Revision History