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HMR3500 User's Guide
INICAL can query or set mounting offset. Mounting offset (along with magnetic declination) are critical compass
calibrations, and they should always be loaded whenever the module is started. As an alternative, the start-up default for
mounting offset can be set. (See "Set Power-Up Defaults.")
Azimuth offset is added to uncorrected compass bearing, as is magnetic declination. So both have the same sign sense.
Specifically, if the way the module is mounted causes north to appear east of true north, mounting offset should be
positive.
Set Power-Up Defaults
Name:
SDFLT/DSDFLT
ID:
0x66
Request Data: 12 bytes:
Data
Req
MagDecl
Azimuth Offset
Pitch Offset
Roll Offset
DORIENT Int
Reply Data:
12 bytes:
Data
Result
MagDecl
Azimuth Offset
Pitch Offset
Roll Offset
DORIENT Int
Default values for several functions or values are stored in the compass's flash memory for executable code. These
values are those which are in effect immediately after power-up or reset. The SDFLT command permits changing these
start-up values by rewriting a portion of the processor's flash memory.
Do not confuse the quantities in these messages with the corresponding working variables. What are affected here are
start-up defaults, and these may be, and probably are, different from the actual current values in effect.
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Byte
Type
Offset
uint
0-1
Kang
2-3
Kang
4-5
Kang
6-7
Kang
8-9
int
10-11
Byte
Type
Offset
uint
0-1
Kang
2-3
Kang
4-5
Kang
6-7
Kang
8-9
uchar
10-11
Description
Bit flags; 1 = change corresponding value:
0 (0x01) = magnetic declination
1 (0x02) = azimuth offset
2 (0x04) = pitch offset
3 (0x08) = roll offset
4 (0x10) = DORIENT interval
Magnetic Declination
Azimuth (mounting) offset.
Pitch offset.
Roll offset.
Milliseconds between DORIENT messages
Description
Bit flags; 1 = corresponding value changed.
Codes are same as above. (A request to change may not be
honored if an illegal value is supplied. In this case, the
corresponding bit will be zero.)
Current setting.
Current setting
Current setting
Current setting
Current setting
11
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