Set Zero Orientation Alignment; System State Packet Trigger; Raw Sensors Packet Trigger; Rtcm Differential Gnss Corrections Input - Advanced Navigation Spatial Dual Reference Manual

12.3.13

Set Zero Orientation Alignment

This function accepts a digital input. The input is normally low and a transition from
low to high causes Spatial Dual to set it's alignment so that the current orientation is
zero. Due to the risk of exhausting the flash cycles, the change is not permanent and
will disappear on reset. To make it permanent the Installation Alignment Packet must
be read and then sent back to Spatial Dual with the permanent flag set. This function
requires de-bouncing if attached to a switch.
12.3.14

System State Packet Trigger

This function accepts a digital input. The input is normally low and a transition from
low to high causes Spatial Dual to send the system state packet. This function requires
de-bouncing if attached to a switch.
12.3.15

Raw Sensors Packet Trigger

This function accepts a digital input. The input is normally low and a transition from
low to high causes Spatial Dual to send the raw sensors packet. This function requires
de-bouncing if attached to a switch.
12.3.16

RTCM Differential GNSS Corrections Input

This function accepts RTCM v2, RTCM v3 or CMR differential GNSS corrections. This
allows for Differential GNSS or RTK with Spatial Dual's internal GNSS receiver.
12.3.17

Trimble GNSS Input

This function is designed for interfacing Spatial Dual with an external Trimble GNSS
receiver. It accepts data in the Trimble binary format GSOF and expects packet 0x40
with records 1, 2, 8, and 12 at rates higher than 1Hz (20Hz recommended) and
optional records 9 and 34 at 1 to 2Hz.
12.3.18

u-blox GNSS Input

This function is designed for interfacing Spatial Dual with a u-blox GNSS receiver. It
accepts data in the u-blox binary format and expects message NAV-PVT or NAV-SOL at
rates higher than 1Hz.
12.3.19

Hemisphere GNSS Input

This function is designed for interfacing Spatial Dual with a Hemisphere GNSS receiver.
It accepts data in the Hemisphere binary format and expects message Bin1 at rates
higher than 1Hz. For Hemisphere receivers that provide heading using two antennas,
NMEA should be used instead as the binary format does not allow for transmission of
heading information.
12.3.20

Left Wheel Speed Sensor

This function is designed for the left wheel of a vehicle with dual wheel speed sensors.
Spatial Dual Reference Manual
Page 85 of 137
Version 2.3
12/04/2016