Novatel Gnss Input; Topcon Gnss Input; Anpp Input; Anpp Output - Advanced Navigation Motus Reference Manual

15.4.8

Novatel GNSS Input

This function is designed for interfacing Motus with a Novatel GNSS receiver. It accepts
data in the Novatel binary format and requires messages BESTPOSB and BESTVELB at
rates higher than 1 Hz (20Hz recommended). The message BESTSATSB is optional to
display detailed satellite information. The message HEADING is also supported for
ALIGN capable receivers.
15.4.9

Topcon GNSS Input

This function is designed for interfacing Motus with a Topcon GNSS receiver. It accepts
data in the GRIL TPS binary format and expects messages PG and VG at rates higher
than 1 Hz.
15.4.10

ANPP Input

This function accepts data in the ANPP format as specified in section 16.
15.4.11

ANPP Output

This function outputs data in the ANPP format as specified in section 16. For packets to
be sent out they must be requested through another GPIO functioning as ANPP input.
15.4.12

Disable Magnetometers

This function accepts a digital input with a low state enabling the magnetometers and
a high state disabling the magnetometers.
15.4.13

Set Zero Orientation Alignment

This function accepts a digital input. The input is normally low and a transition from
low to high causes Motus to set it's alignment so that the current orientation is zero.
Due to the risk of exhausting the flash cycles, the change is not permanent and will
disappear on reset. To make it permanent the Installation Alignment Packet must be
read and then sent back to Motus with the permanent flag set. This function requires
de-bouncing if attached to a switch.
15.4.14

System State Packet Trigger

This function accepts a digital input. The input is normally low and a transition from
low to high causes Motus to send the system state packet. This function requires de-
bouncing if attached to a switch.
15.4.15

Raw Sensors Packet Trigger

This function accepts a digital input. The input is normally low and a transition from
low to high causes Motus to send the raw sensors packet. This function requires de-
bouncing if attached to a switch.
Motus Reference Manual
Page 96 of 146
Version 1.1
29/11/2019