Moog Crossbow GNAV540 - Manual (Page 76)

P
GNAV540 User Manual
7430‐0808‐01 Rev. B
age 76
Angle Data Packet 0
Table 43 A0 Data Packet
Angle Data (‘A0’ = 0x4130)
Preamble Packet Type Length Payload Termination
0x5555 0x4130 0x1E <A0 payload> <CRC (U2)>
This packet contains angle data and selected sensor data scaled in most cases to a signed 2^16 2’s complement
number. Data involving angular measurements include the factor pi in the scaling and can be interpreted in either
radians or degrees.
• Angles: scaled to a range of (‐pi, +pi) or (‐180 deg to +180 deg)
•
(‐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 44 A0 Payload
A0 Payload Contents
Byte
ffset O
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 yawAngleMag I2 2*pi/2^16
) (360°/2^16
Radians
(°) Yaw angle (magnetic north)
6 xRateCorrected I2 7*pi/2^16
6) (1260°/2^1
rad/s
) (°/sec
X angular RateCorrected
8 yRateCorrected I2 7*pi/2^16
6) (1260°/2^1
rad/s
) (°/sec
Y angular Rate Corrected
10 zRateCorrected I2 7*pi/2^16
^16) (1260°/2
rad/s
/sec) (°
Z angular Rate Corrected
12 xAccelCorrected I2 20/2^16 g X Accel Corrected
14 yAccelCorrected I2 20/2^16 g Y Accel Corrected
16 zAccelCorrected I2 20/2^16 g Z Accel Corrected
18 xMag I2 2/2^16 Gauss X magnetometer
20 yMag I2 2/2^16 Gauss Y magnetometer
22 zMag I2 2/2^16 Gauss Z magnetometer
24 xRateTemp I2 200/2^16 deg C X rate temperature