Moog Crossbow GNAV540 - Manual (Page 74)

Page 74
GNAV540 User Manual
7430‐0808‐01 Rev. B
S0 Payload Contents
Byte
ffset O
Name Format Scaling Units Description
8 yRate I2 7*pi/2^16
6) (1260°/2^1
rad/s
) (°/sec
Y angular rate
10 zRate I2 7*pi/2^16
2^16) (1260°/
rad/s
(°/sec) Z angular rate
12 xMag I2 2/2^16 Gauss X magnetometer
14 yMag I2 2/2^16 Gauss Y magnetometer
16 zMag I2 2/2^16 Gauss Z magnetometer
18 xRateTemp I2 200/2^16 deg. C X rate temperature
20 yRateTemp I2 200/2^16 deg. C Y rate temperature
22 zRateTemp I2 200/2^16 deg. C Z rate temperature
24 boardTemp I2 200/2^16 deg. C CPU board temperature
26 GPSITOW U2 truncated ms GPS ITOW (lower 2 bytes)
28 BITstatus U2 — — Master BIT and Status
Scaled Sensor Data Packet 1 (Default IMU Data)
Table 39 S1 Data Packet
Scaled Sensor Data (‘S1’ = 0x5331)
Preamble Packet Type Length Payload Termination
0x5555 0x5331 0x18 <S1 payload> <CRC (U2)>
This packet contains scaled sensor data. Data involving angular measurements include the factor pi in the scaling
and can be interpreted in either radians or degrees.
• (‐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
• Temperature: scaled to a range of (‐100, +100)°C
Table 40 S1 Payload
S1 Payload Contents
Byte Offset Name Format Scaling Units Description
0 xAccel I2 20/2^16 g X accelerometer
2 yAccel I2 20/2^16 g Y accelerometer
4 zAccel I2 20/2^16 g Z accelerometer
6 xRate I2 7*pi/2^16
6) (1260°/2^1
rad/s
) (°/sec
X angular rate
8 yRate I2 7*pi/2^16
(1260°/2^16) rad/s
(°/sec) Y angular rate