Advanced Navigation Spatial FOG Dual Reference Manual page 5

12.4 Dynamic Pin Functions...................................................................................... 79
12.4.1 1PPS Output.............................................................................................. 80
12.4.2 GNSS Fix Output........................................................................................ 81
12.4.3 Odometer Input......................................................................................... 81
12.4.4 Zero Velocity Input.................................................................................... 81
12.4.5 Pitot Tube Input.......................................................................................... 81
12.4.6 NMEA Input................................................................................................ 81
12.4.7 NMEA Output............................................................................................. 82
12.4.8 Novatel GNSS Input...................................................................................82
12.4.9 Topcon GNSS Input.................................................................................... 83
12.4.10 ANPP Input............................................................................................... 83
12.4.11 ANPP Output............................................................................................ 83
12.4.12 Disable GNSS........................................................................................... 83
12.4.13 Disable Pressure...................................................................................... 83
12.4.14 Set Zero Orientation Alignment...............................................................83
12.4.15 System State Packet Trigger....................................................................83
12.4.16 Raw Sensors Packet Trigger.....................................................................83
12.4.17 RTCM Differential GNSS Corrections Input...............................................83
12.4.18 Trimble GNSS Input.................................................................................. 84
12.4.19 u-blox GNSS Input.................................................................................... 84
12.4.20 Hemisphere GNSS Input..........................................................................84
12.4.21 Left Wheel Speed Sensor.........................................................................84
12.4.22 Right Wheel Speed Sensor......................................................................84
12.4.23 1PPS Input............................................................................................... 84
12.4.24 Wheel Speed Sensor................................................................................84
12.4.25 Wheel Encoder Phase A...........................................................................84
12.4.26 Wheel Encoder Phase B...........................................................................85
12.4.27 Event 1 Input........................................................................................... 85
12.4.28 Event 2 Input........................................................................................... 85
12.4.29 TSS1 Output............................................................................................ 85
12.4.30 Simrad 1000 Output................................................................................85
12.4.31 Simrad 3000 Output................................................................................85
12.4.32 Serial Port Passthrough............................................................................85
12.4.33 Gimbal Encoder Phase A..........................................................................85
12.4.34 Gimbal Encoder Phase B..........................................................................86
12.4.35 Odometer Direction, Forward Low...........................................................86
12.4.36 Odometer Direction, Forward High..........................................................86
13 Advanced Navigation Packet Protocol......................................................................87
13.1 Data Types........................................................................................................ 87
13.2 Packet Structure............................................................................................... 87
13.2.1 Header LRC................................................................................................ 88
13.2.2 Packet ID................................................................................................... 88
13.2.3 Packet Length............................................................................................ 88
13.2.4 CRC............................................................................................................ 88
13.3 Packet Requests............................................................................................... 88
13.4 Packet Acknowledgement................................................................................. 89
13.5 Packet Rates..................................................................................................... 89
13.6 Packet Timing................................................................................................... 89
13.7 Packet Summary............................................................................................... 89
13.8 System Packets................................................................................................. 92
Spatial FOG Dual Reference Manual
Page 4 of 138
Version 1.0
26/06/2015