Moog Crossbow GNAV540 - Manual (Page 73)

GNAV540 User Manual
7430‐0808‐01 Rev. B Page 73
T2 Payload Contents
Byte
Offset Name Format Scaling Units Description
BIT Field
14 comSerialCBIT U2 — — Communication Ser
BIT Field ial C
16 softwareBIT U2 — — Software BIT Field
16 softwareAlgorithmBIT U2 — — Software Algorithm BIT
Field
20 softwareDataBIT U2 — — Software Data BIT Field
22 hardwareStatus U2 — — Hardware Status Field
24 comStatus U2 — — Communication Statu
Field s
26 softwareStatus U2 — — Software Status Field
28 sensorStatus U2 — — Sensor Status Field
Output Packets (Polled or Continuous)
Scaled Sensor Data Packet 0
Table 37 SO Data Packet
Scaled Sensor Data (‘S0’ = 0x5330)
Preamble Packet Type Length Payload Termination
0x5555 0x5330 0x1E <S0 payload> <CRC (U2)>
This packet contains scaled sensor data. The scaled sensor data is fixed point, 2 bytes per sensor, MSB first, for 13
sensors in the following order: accels(x,y,z); gyros(x,y,z); mags(x,y,z); temps(x,y,z,board). Data involving angular
measure or degrees. ments include the factor pi in the scaling and can be interpreted in either radians
• (‐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
• Magnetometers: scaled to a range of (‐1,+1) Gauss
• Temperature: scaled to a range of (‐100, +100)°C
Table 38 S0 Payload
S0 Payload Contents
Byte
ffset O
Name Format Scaling Units Description
0 xAccel I2 20/2^16 g X accelerometer
2 yAccel I2 20/2^16 g Y accelerometer
4 zAccel I2 20/2^16 g Z accelerometer
6 xRate I2 7*pi/2^16
(1260°/2^16) rad/s
(°/sec) X angular rate