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

13.10.2

Packets Period Packet

Packet ID
Length
Field Bytes
# Offset
1 0
2 1
3 2
4 3
+
Table 98: Packets period packet
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
Packets Period Packet
Data Size
Type
u8 1
u8 1 Clear existing packet periods, see section 13.10.2.1
u8 1
u32 4
Spatial FOG Dual Reference Manual
2 + (5 x number of packet periods)
Packet period, see section 13.10.2.2
Fields 3-4 repeat for additional packet periods
Page 125 of 138
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Description
Permanent
Packet ID