Moog Crossbow GNAV540 - Manual (Page 75)

V540 U
0808‐0
Page 75 GNA
7430‐ ser Manual
1 Rev. B
S1 Payload Contents
Byte Offset Name Format Scaling Units Description
10 zRate I2 7*pi/2^16
16) (1260°/2^
rad/s
(°/sec) Z angular rate
12 xRateTemp I2 200/2^16 deg. C X rate temperature
14 yRateTemp I2 200/2^16 deg. C Y rate temperature
16 zRateTemp I2 200/2^16 deg. C Z rate temperature
18 boardTemp I2 200/2^16 deg. C CPU board temperature
20 Counter U2 — packets Output packet counter
22 BITstatus U2 — — Master BIT and Status
Scaled Sensor Data Packet 2 (Delta‐Theta, Delta‐V)
Table 41 S2 Data Packet
Scaled Sensor Data (‘S2’ = 0x5332)
Preamble Packet Type Length Payload Termination
0x5555 0x5332 0x1C <S2 payload> <CRC (U2)>
This packet contains scaled sensor data in the traditional delta‐theta and delta‐velocity format with integration time
equivalent to the packet rate. Changes in body axis angles and velocities are accumulated during the interval
between successive packets as determined by the packet rate. Polled requests for this packet will produce values
accumulated since the last poll request, and thus, are subject to overflow (data type wrap around).
• Data involving angular measurements include the factor pi in the scaling and can be interpreted in either
radians or degrees.
• ad (‐630, +630) Δ degrees. Delta Angle: scaled to range of 3.5* (‐pi, +pi) Δ r ians or
• Delta Velocity: scaled to a range of (‐100, +100) Δ m/s.
Table 42 S2 Payload
S2 Payload Contents
Byte
fset Of
Name Format Scaling Units Description
0 xDeltaVel I4 200/2^32 Δ m/s X delta velocity
4 yDeltaVel I4 200/2^32 Δ m/s Y delta velocity
8 zDeltaVel I4 200/2^32 Δ m/s Z delta velocity
12 xDeltaAngle I4 7*pi/2^32
2) (1260°/2^3
Δ rad
(Δ °) X delta angle
16 yDeltaAngle I4 7*pi/2^32
2) (1260°/2^3
Δ rad
(Δ °) Y delta angle
20 zDeltaAngle I4 7*pi/2^32
60°/2^32) (12
Δ rad
(Δ °) Z delta angle
24 Counter U2 — packets Output packet counter
26 BITstatus U2 — — Master BIT and Status