Clear Existing Packets; Packet Period; Baud Rates Packet - Advanced Navigation Spatial Dual Reference Manual

13.10.2.1

Clear Existing Packets

This is a boolean field, when set to one it deletes any existing packet rates. When set
to zero existing packet rates remain. Only one packet rate can exist per packet ID, so
new packet rates will overwrite existing packet rates for the same packet ID.
13.10.2.2

Packet Period

This indicates the period in units of the packet timer period. The packet rate can be
calculated as follows.
Packet Rate = 1000000/(Packet Period x Packet Timer Period) Hz
For example if the packet timer period is set to 1000 (1 ms). Setting packet ID 20 with
a packet period of 50 will give the following.
Packet 20 Rate = 1000000/(50 x 1000)
Packet 20 Rate = 20 Hz
13.10.3

Baud Rates Packet

Packet ID
Length
Field Bytes
# Offset
1 0
2 1
3 5
4 9
5 13
Table 98: Baud rates packet
Baud Rates Packet
Data Size
Type
u8 1
u32 4
u32 4
u32 4
4
Spatial Dual Reference Manual
Primary RS232 baud rate (1200 to 1000000)
GPIO 1 & 2 baud rate (1200 to 1000000)
Auxiliary RS232 Baud Rate (1200 to 1000000)
Reserved (set to zero)
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Description
Permanent