Moog Crossbow GNAV540 - Manual (Page 79)

NAV540 User Manual
7430‐0808‐01 Rev. B
Page 79 G
N0 Payload Contents
Byte
Offset Name Format Scaling Units Description
(1260°/2^16) (°/sec)
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
c) (°/se
Z angular rate corrected
12 nVel I2 512/2^16 m/s North velocity
14 eVel I2 512/2^16 m/s East velocity
16 dVel I2 512/2^16 m/s Down velocity
18 longitudeGPS I4 2*pi/2^32
) (360°/2^32
Radians
(°) GPS Longitude
22 latitudeGPS I4 2*pi/2^32
) (360°/2^32
Rad ians
(°)
GPS Latitude
26 altitudeGPS I2* 2^14/2^16 m GPS altitude (‐100,16284)
28 GPSITOW U2 truncated ms GPS ITOW (lower 2 bytes)
30 BITstatus U2 — — Master BIT and Status
Nav Data Packet 1
Table 49 N1 Data Packet
Nav Data (‘N1’ = 0x4E31)
Preamble Packet Type Length Payload Termination
0x5555 0x4E31 0x2A <N1 payload> <CRC (U2)>
This packet contains navigation 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
•
°C Temperature: scaled to a range of (‐100, +100)
• Velocities: scaled to a range of (‐256,256) m/s
•
epresentation. Altitude: scaled to a range of (‐100, 16284) m using a shifted 2’s complement r
• Longitude and latitude: scaled to a range of (‐pi, pi) or (‐180 deg to +180 deg)