Insconfig - Novatel OEM6 Integration Manual

Chapter 2 New for OEM7 – Firmware

2.3.8 INSCONFIG

Determine required settings for post-processing or system analysis
Platform: OEM729, OEM719, OEM7700
This log is the single message required to determine all required settings for post-processing or
system analysis. This log is asynchronous and published for any change to the included fields. It
is intended to be recorded occasionally though it could be updated frequently at system startup.
Message ID: 1945
Log Type: Polled
Recommended Input:
log insconfig onchanged
ASCII Example:
#INSCONFIGA,COM1,0,71.0,COARSESTEERING,1931,517331.006,02400000,6d7a,
32768;EPSON_G320,6,50,20,DEFAULT,00ffd1bf,AUTOMATIC,ROVER,FALSE,
00000000,0,0,0,0,0,0,0,0,0,1,ANT1,IMUBODY,0.0540,0.0699,-0.0346,0.0200,
0.0200,0.0200,FROM_NVM,1,RBV,IMUBODY,180.0000,0.0000,90.0000,5.0000,
5.0000,5.0000,FROM_COMMAND*b1233ac4
Field Field Type
INSCONFIG
1
Header
2 IMU Type
3 Mapping
Initial
4 Alignment
Velocity
Heave
5
Window
6 Profile
Enabled
7
Updates
Alignment
8
Mode
OEM6 to OEM7 Integration Guide v1
Description
Command header. See Messages for
more information.
IMU type
Mapping / Orientation
Minimum Alignment Velocity entered by
the user.
Note: Velocity (m/s) is scaled by 10 for
10cm/s precision
Length of the heave window in seconds (if
set)
Profile setting (see the SETINSPROFILE
command on page 66)
Enabled update types
Alignment mode configured on the system
(see the ALIGNMENTMODE command)
Binary Binary Binary
Format Bytes Offset
- H 0
Enum 4 H
Uchar 1 H+4
Uchar 1 H+5
Ushort 2 H+6
Enum 4 H+8
Hex 4 H+12
Enum 4 H+16
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