Advanced Navigation Packet Protocol; Data Types; Packet Structure - Advanced Navigation Spatial Dual Reference Manual

13

Advanced Navigation Packet Protocol

The Advanced Navigation Packet Protocol (ANPP) is a binary protocol designed with
high error checking, high efficiency and safe design practices. It has a well defined
specification and is very flexible. It is used across all existing and future Advanced
Navigation products.
13.1

Data Types

The following data types are used in the packet protocol. All data types in the protocol
are little endian byte ordering.
Abbreviation Bytes
u8
s8
u16
s16
u32
s32
u64
s64
fp32
fp64
Table 23: Data type abbreviations used in the ANPP
13.2

Packet Structure

The ANPP packet structure is shown in Table 24 and the header format is shown in
Table 25. Example code can be downloaded from the software section.
Header LRC
Table 24: ANPP Packet Structure
1
1
2
2
4
4
8
8
4
8
Header
Packet ID Packet Length
Spatial Dual Reference Manual
Also known as
unsigned char, unsigned byte, uint8_t
char, byte, int8_t
unsigned short, uint16_t
short, int16_t
unsigned int, unsigned long, uint32_t
int, long, int32_t
unsigned long long, uint64_t
long long, int64_t
float
double
CRC16
Page 88 of 137
Version 2.3
12/04/2016
Packet Data