Moog Crossbow GNAV540 - Manual (Page 5)

GNA
743 V540 User Manual
0‐0808‐01 Rev. B
Page 5
Ch apter 8. Data Packet Structure ....................................................................................................................... 61
General Settings ......................................................................................................................................................................................................61
Number Formats.....................................................................................................................................................................................................61
Pa
cket Format..........................................................................................................................................................................................................62
Packet Header .....................................................................................................................................................................................................62
Packet Type..........................................................................................................................................................................................................62
Payload Length ...................................................................................................................................................................................................63
Payload...................................................................................................................................................................................................................63
16‐Bit CRC‐CCITT ..............................................................................................................................................................................................63
Messaging Overview ........................................................................................................................................................................................63
Cha pter 9. Communicating with the GNAV540 Unit .................................................................................... 67
Ping Command....................................................................................................................................................................................................67
Ping Response.....................................................................................................................................................................................................67
Echo Command...................................................................................................................................................................................................67
Echo Response....................................................................................................................................................................................................67
In s teractive Command .........................................................................................................................................................................................68
Get Packet Request ...........................................................................................................................................................................................68
Algorithm Reset Command ...........................................................................................................................................................................68
Algorithm Reset Response ............................................................................................................................................................................68
Software Reset Command..............................................................................................................................................................................68
Software Reset Response...............................................................................................................................................................................69
Calibrate Command..........................................................................................................................................................................................69
Calibrate Acknowledgement Response ...................................................................................................................................................70
Calibration Completed Parameters Response......................................................................................................................................70
Error Response...................................................................................................................................................................................................71
Ou tput Packets (Polled).......................................................................................................................................................................................71
Identification Data Packet .............................................................................................................................................................................71
Version Data Packet .........................................................................................................................................................................................71
Test 2 (Detailed BIT and Status) Packet..................................................................................................................................................72
Ou tput Packets (Polled or Continuous)........................................................................................................................................................73
Scaled Sensor Data Packet 0 .........................................................................................................................................................................73
Scaled Sensor Data Packet 1 (Default IMU Data) ................................................................................................................................74
Scaled Sensor Data Packet 2 (Delta‐Theta, Delta‐V)..........................................................................................................................75
Angle Data Packet 0..........................................................................................................................................................................................76
Angle Data Packet 1 (Default AHRS Data) ..............................................................................................................................................77
Nav Data Packet 0..............................................................................................................................................................................................78
Nav Data Packet 1..............................................................................................................................................................................................79