Moog Crossbow GNAV540 - Manual (Page 77)

GNAV540 Use nual
7430‐0808‐01 Rev. B
Page 77 r Ma
A0 Payload Contents
Byte
set Off
Name Format Scaling Units Description
26 GPSITOW U2 truncated ms GPS ITOW (lower 2 bytes)
28 BITstatus U2 — — Master BIT and Status
Angle Data Packet 1 (Default AHRS Data)
Table 45 A1 Data Packet
Angle Data (‘A1’ = 0x4131)
Preamble Packet Type Length Payload Termination
0x5555 0x4131 0x20 <A1 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 46 A1 Payload
A1 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 rate Corrected
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 xAccel I2 20/2^16 g X accelerometer
14 yAccel I2 20/2^16 g Y accelerometer
16 zAccel I2 20/2^16 g Z accelerometer