Advanced Navigation Spatial OEM Reference Manual page 5

9.8.14 ECEF Position Packet..............................................................................................65
9.8.15 UTM Position Packet................................................................................................65
9.8.16 NED Velocity Packet.................................................................................................66
9.8.17 Body Velocity Packet................................................................................................66
9.8.18 Acceleration Packet..................................................................................................66
9.8.19 Body Acceleration Packet.........................................................................................67
9.8.20 Euler Orientation Packet...........................................................................................67
9.8.21 Quaternion Orientation Packet.................................................................................67
9.8.22 DCM Orientation Packet...........................................................................................68
9.8.23 Angular Velocity Packet............................................................................................68
9.8.24 Angular Acceleration Packet.....................................................................................69
9.8.25 External Position & Velocity Packet..........................................................................69
9.8.26 External Position Packet...........................................................................................70
9.8.27 External Velocity Packet...........................................................................................70
9.8.28 External Body Velocity Packet..................................................................................71
9.8.29 External Heading Packet..........................................................................................71
9.8.30 Running Time Packet...............................................................................................71
9.8.31 Local Magnetic Field Packet.....................................................................................72
9.8.32 Odometer State Packet............................................................................................72
9.8.33 External Time Packet................................................................................................72
9.8.34 External Depth Packet..............................................................................................73
9.8.35 Geoid Height Packet.................................................................................................73
9.8.36 RTCM Corrections Packet........................................................................................73
9.8.37 External Pitot Pressure Packet.................................................................................73
9.8.38 Wind Estimation Packet............................................................................................74
9.8.39 Heave Packet........................................................................................................... 74
9.9 Configuration Packets........................................................................................................75
9.9.1 Packet Timer Period Packet.......................................................................................75
9.9.1.1 UTC Synchronisation..........................................................................................75
9.9.1.2 Packet timer period.............................................................................................75
9.9.2 Packets Period Packet...............................................................................................76
9.9.2.1 Clear Existing Packets........................................................................................76
9.9.2.2 Packet Period.....................................................................................................76
9.9.3 Baud Rates Packet.....................................................................................................77
9.9.4 Sensor Ranges Packet...............................................................................................77
9.9.4.1 Accelerometers Range........................................................................................77
9.9.4.2 Gyroscopes Range.............................................................................................78
9.9.4.3 Magnetometers Range.......................................................................................78
9.9.5 Installation Alignment Packet......................................................................................79
9.9.5.1 Alignment DCM...................................................................................................79
9.9.6 Filter Options Packet..................................................................................................80
9.9.6.1 Vehicle Types......................................................................................................81
9.9.7 Advanced Filter Parameters Packet...........................................................................81
9.9.8 GPIO Configuration Packet........................................................................................81
9.9.8.1 GPIO1 Functions................................................................................................82
9.9.8.2 GPIO2 Functions................................................................................................83
9.9.8.3 GPIO3 Functions................................................................................................84
9.9.8.4 GPIO4 Functions................................................................................................85
9.9.9 Magnetic Calibration Values Packet...........................................................................86
9.9.10 Magnetic Calibration Configuration Packet...............................................................86
Spatial OEM Reference Manual
Page 5 of 88
Version 2.7