Byte offset, Name, Format – Moog Crossbow NAV440 Series User Manual
Page 75: Scaling, Units, Description, Preamble, Packet type, Length, Payload
NAV440
7430‐01
Page 75
User Manual
31‐01 Rev. F
Table 46 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 RateCorrected
10
zRateCorrected
I2
7*pi/2^16
^16)
(1260°/2
rad/s
/sec)
(°
Z angular RateCorrected
12
xAccelCorrected
I2
20/2^16
g
X AccelCorrected
14
yAccelCorrected
I2
20/2^16
g
Y AccelCorrected
16
zAccelCorrected
I2
20/2^16
g
Z AccelCorrected
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
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 47 Angle Data Packet 1
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