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DCM[1][2] = cos(pitch) * sin(roll)
DCM[2][0] = sin(heading) * sin(roll) + cos(heading) * sin(pitch) * cos(roll)
DCM[2][1] = -cos(heading) * sin(roll) + sin(heading) * sin(pitch) * cos(roll)
DCM[2][2] = cos(pitch) * cos(roll)
10.11.5
Filter Options Packet
Packet ID
Length
Field #
Bytes
Offset
1
0
2
1
3
2
4
3
5
4
6
5
7
6
8
7
9
8
Table 98: Filter options packet
Filter Options Packet
Data
Size
Type
u8
1
u8
1
u8
1
u8
1
u8
1
u8
1
u8
1
u8
1
9
GNSS Compass Reference Manual
186
17
Description
Permanent
Vehicle type, see section 10.11.5.1
Internal GNSS enabled (boolean)
Reserved (set to zero)
Atmospheric altitude enabled (boolean)
Velocity heading enabled (boolean)
Reversing detection enabled (boolean)
Motion analysis enabled (boolean)
Reserved (set to zero)
Page 78 of 85
Version 1.1
13/01/2021
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