Table of Contents
Advertisement
Chapter 2 New for OEM7 – Firmware
2.4 New for OEM7 – SPAN
The commands used to enter translational offsets and rotational offsets have changed in OEM7.
For information about translations and rotations, see SPAN Translations and Rotations.
2.4.1 Translational Offsets
Determining the translational offsets in OEM7 is similar to the process in OEM6. Three dimen-
sional distances from IMU to the other SPAN system device (e.g. GNSS antenna) are entered
into the SPAN receiver. The differences are the commands used to enter the offsets have
changed and the distances can be entered in the IMU frame or the vehicle frame.
See Table 60: Commands for Entering SPAN Offsets and Rotations below for the changes in the
commands used for entering translational offsets. See the SETINSTRANSLATION command
(see page 70) for more information.
The OEM6 offset commands required that all translational offsets be entered in the IMU Body
Frame, so to translate to the new commands, the same values can be entered within the new
structure.
2.4.2 Rotational Offsets
Determining rotational offsets in OEM7 has changed significantly. With the OEM6 commands,
rotations usually referenced the SPAN Computation Frame. Now, all rotations are given as the
rotation from the IMU Body Frame, to the frame of interest. For IMUs installed with their Z axis
pointed upwards, rotation angles will be similar as those used with the legacy commands. For
IMUs installed in other orientations, angles will be very different.
See Table 60: Commands for Entering SPAN Offsets and Rotations below for the changes in the
commands used for entering rotational offsets. See the SETINSROTATION command (see page
67) for more information.
Table 60: Commands for Entering SPAN Offsets and Rotations
OEM6 Command
SETIMUTOANTOFFSET
SETIMUTOANTOFFSET2
SETIMUTOEXTOFFSET
SETIMUTOGIMBALOFFSET
SETINSOFFSET
OEM6 to OEM7 Integration Guide v1
OEM7 Command
SETINSTRANSLATION
ANT1
SETINSTRANSLATION
ANT2
SETINSTRANSLATION
EXTERNAL
SETINSTRANSLATION
GIMBAL
SETINSTRANSLATION
USER
Notes
149
Advertisement
Table of Contents
