Advanced Navigation GNSS Compass Reference Manual page 123

GNSS Compass Reference Manual • Advanced Navigation Packet Protocol
10.5.4.1 Alignment DCM
The alignment DCM (Direction Cosine Matrix) is used to represent an alignment offset of GNSS Compass from
its standard alignment. A DCM is used rather than Euler angles for accuracy reasons. To convert Euler angles
to DCM, use the formula below with angles in radians.
DCM[0][0] = cos(heading) * cos(pitch)
DCM[0][1] = sin(heading) * cos(pitch)
DCM[0][2] = -sin(pitch)
DCM[1][0] = -sin(heading) * cos(roll) + cos(heading) * sin(pitch) * sin(roll)
DCM[1][1] = cos(heading) * cos(roll) + sin(heading) * sin(pitch) * sin(roll)
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)
10.5.5 Filter Options Packet
Filter Options Packet
Packet ID
Length
Read / Write
Field # Bytes Off-
set
1 0
2 1
3 2
4 3
5 4
6 5
7 6
8 7
9 8
10 9
Table 103: Filter Options Packet
10.5.5.1 Vehicle Types
Value
0
1
v2.0
Data Size
Type
u8 1
u8 1
u8 1
u8 1
u8 1
u8 1
u8 1
u8 1
u8 1
8
Description
Unlimited
Bicycle or Motorcycle
186
17
Read / Write
Description
Permanent
10.5.5.1 Vehicle Types
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)
Reserved (set to zero)
Page 114 04 Nov 2021