Odometer Configuration Packet; Set Zero Orientation Alignment Packet; Reference Point Offsets Packet - Advanced Navigation Spatial Dual Reference Manual

13.10.9

Odometer Configuration Packet

Packet ID
Length
Field Bytes
# Offset
1 0
2 1
3 2
4 4
Table 111: Odometer configuration packet
13.10.10

Set Zero Orientation Alignment Packet

This packet was modified as of firmware version 2.1 for code safety certification.
Previously it was 1 byte long with no verification sequence.
Packet ID
Length
Field Bytes
# Offset
1 0
2 1
Table 112: Set zero orientation alignment packet
13.10.11

Reference Point Offsets Packet

The reference point offsets packet can be used to adjust the measurement point that
all data is referenced to. By default all the values of this packet are zero and the
measurement point that all data is referenced to is the centre of the Spatial Dual unit.
The primary reference point offset can be used to adjust the measurement point to a
different location on the vehicle. The primary reference point offset applies to all data
output including NMEA etc as well as heave point 1. The other heave point offsets
apply only to heave points 2-4 in the Heave Packet.
Odometer Configuration Packet
Data Size
Type
u8 1
u8 1
2
fp32 4
Set Zero Orientation Alignment Packet
Data Size
Type
u8 1
u32 4
Spatial Dual Reference Manual
Description
Permanent
Automatic pulse measurement active
Reserved (set to zero)
Pulse length (m)
Description
Permanent
Verification sequence (set to 0x9A4E8055)
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