State Packets; System State Packet - Advanced Navigation Spatial FOG Dual Reference Manual

13.9

State Packets

Spatial FOG Dual supports a large number of packets providing extensive functionality.
However for the majority of users the easiest approach is to configure Spatial FOG
Dual using the Spatial Manager software and then support only the single system state
packet shown below in section 13.9.1. Advanced functionality can be added as
required through the other packets.
13.9.1

System State Packet

Packet ID
Length
Field Bytes
# Offset
1 0
2 2
3 4
4 8
5 12
6 20
7 28
8 36
9 40
10 44
11 48
12 52
13 56
14 60
15 64
16 68
17 72
18 76
19 80
20 84
21 88
22 92
23 96
System State Packet
Data Size
Type
u16 2
u16 2
u32 4
u32 4
fp64 8
fp64 8
fp64 8
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
Spatial FOG Dual Reference Manual
Description
System status, see section 13.9.1.1
Filter status, see section 13.9.1.2
Unix time seconds, see section 13.9.1.4
Microseconds, see section 13.9.1.5
Latitude (rad)
Longitude (rad)
Height (m)
Velocity north (m/s)
Velocity east (m/s)
Velocity down (m/s)
Body acceleration X (m/s/s)
Body acceleration Y (m/s/s)
Body acceleration Z (m/s/s)
G force (g)
Roll (radians)
Pitch (radians)
Heading (radians)
Angular velocity X (rad/s)
Angular velocity Y (rad/s)
Angular velocity Z (rad/s)
Latitude standard deviation (m)
Longitude standard deviation (m)
Height standard deviation (m)
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Version 1.0
26/06/2015
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