Odometer Configuration Packet; Set Zero Orientation Alignment Packet; Version; Reference Point Ofsets Packet - Advanced Navigation Spatial FOG Reference Manual

13.10.8

Odometer Configuration Packet

Packet ID
Length
Field Bytes
# Ofset
1 0
2 1
3 2
4 4
Table 107: Odometer configuration packet
13.10.9

Set Zero Orientation Alignment Packet

This packet was modified as of firmware version 2.0 for code safety certification.
Previously it was 1 byte long with no verification sequence.
Packet ID
Length
Field Bytes
# Ofset
1 0
2 1
Table 108: Set zero orientation alignment packet
13.10.10

Reference Point Ofsets Packet

The reference point ofsets packet can be used to adjust the measurement point that
all data is referenced to. By default all the values of this packet are zero and the
measurement point that all data is referenced to is the centre of the Spatial FOG unit.
The primary reference point ofset can be used to adjust the measurement point to a
diferent location on the vehicle. The primary reference point ofset applies to all data
output including NMEA etc as well as heave point 1. The other heave point ofsets
apply only to heave points 2-4 in the Heave Packet.
Odometer Configuration Packet
Data Size
Type
u8 1
u8 1
u8 2
fp32 4
Set Zero Orientation Alignment Packet
Data Size
Type
u8 1
u32 4
Spatial FOG Reference Manual
Description
Permanent
Automatic pulse measurement active
Reserved (set to zero)
Pulse length (m)
Description
Permanent
Verification sequence (set to 0x9A4E8055)
Page 138 of 144

Version 2.3

03/05/2018
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