Disable Magnetometers; Disable Gnss; Disable Pressure; Set Zero Orientation Alignment - Advanced Navigation Spatial OEM Reference Manual

8.3.13

Disable Magnetometers

This function accepts a digital input with a low state enabling the magnetometers and a high state
disabling the magnetometers.
8.3.14

Disable GNSS

This function accepts a digital input with a low state enabling the GNSS and a high state disabling
the GNSS.
8.3.15

Disable Pressure

This function accepts a digital input with a low state enabling the atmospheric pressure sensor and
a high state disabling the atmospheric pressure sensor.
8.3.16

Set Zero Orientation Alignment

This function accepts a digital input. The input is normally low and a transition from low to high
causes Spatial 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 Spatial with the
permanent flag set. This function requires de-bouncing if attached to a switch.
8.3.17

System State Packet Trigger

This function accepts a digital input. The input is normally low and a transition from low to high
causes Spatial to send the system state packet. This function requires de-bouncing if attached to a
switch.
8.3.18

Raw Sensors Packet Trigger

This function accepts a digital input. The input is normally low and a transition from low to high
causes Spatial to send the raw sensors packet. This function requires de-bouncing if attached to a
switch.
8.3.19

RTCM Differential GNSS Corrections Input

This function accepts RTCM differential GPS corrections. This allows for Differential GNSS with
Spatial's internal GNSS receiver to increase positional accuracy.
8.3.20

Trimble GNSS Input

This function is designed for interfacing Spatial with a Trimble GNSS receiver. It can be used to
interface with a Trimble RTK receiver for high positional accuracy. It accepts data in the Trimble
binary format and expects packet 0x57 with record type 29 (enhanced position) at rates higher
than 1Hz.
8.3.21

u-blox GNSS Input

This function is designed for interfacing Spatial with a u-blox GNSS receiver. It accepts data in the
u-blox binary format and expects message NAV-PVT or NAV-SOL at rates higher than 1Hz.
Spatial OEM Reference Manual
Page 46 of 88
Version 2.7