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HMR3500 User's Guide
Up Orientation
char
Forward
char
Orientation
Note: For the most part, message type codes for the compass coincide with those for Honeywell's Dead Reckoning
®
Module (DRM
), but that for VRSN/DVRSN is specifically different to prevent support software from confusing the two
products.
Compass Orientation
Name:
DORIENT
ID:
0x70
There is no ORIENT command. To set the rate at which DORIENT messages are sent, see ORRATE/DORRATE on page
16.
Output Data:
18 bytes:
Data
Roll
Pitch
Azimuth
Rightward acceleration
Forward acceleration
Upward acceleration
Rightward magnetometer
Forward magnetometer
Upward magnetometer
The DORIENT message is generated by the compass and contains orientation (roll, pitch, and azimuth) information from
the compass. All quantities are corrected for their offsets, and azimuth is also corrected for magnetic declination.
Compass Magnetic Compensation
Name:
MCAL/DMCAL
ID:
0x72
Request Data: 1 byte:
Data
Type
Request
uchar
14
10
Specifies board direction taken as upward. Board orientations (X, Y,
and Z) are marked on the boards and encoded here as:
11
Direction taken as forward. Same codes as used for up orientation.
Byte
Type
Offset
Kang
0-1
Kang
2-3
Kang
4-5
int
6-7
int
8-9
int
10-11
int
12-13
int
14-15
int
16-17
Byte Offset
Description
0
0 = No Request
1 = Start compass compensation
2 = Request compass compensation status
3 = Abort compass compensation
4 = Revert to default compensation values
Any other value = request status only
1 = X
–1 = –X
2 = Y
–2 = –Y
3 = Z
–3 = –Z
Description
Compass Roll
Compass Pitch
Compass Azimuth
Rightward acceleration
Forward acceleration
Upward acceleration
Magnetometer reading in the local-coordinates rightward
direction
Magnetometer reading in the local-coordinates forward direction
Magnetometer reading in the local-coordinates upward direction
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