Packet Acknowledgement; Packet Rates; Packet Summary - Advanced Navigation Spatial OEM Reference Manual

9.4

Packet Acknowledgement

When configuration packets are sent to Spatial, it will reply with an acknowledgement packet that
indicates whether the configuration change was successful or not. For details on the
acknowledgement packet, see section 9.7.1.
9.5

Packet Rates

The packet rates can be configured either using Spatial Manager or through the rate configuration
packet, see section 9.9.3. By default Spatial is configured to output the System State Packet at
50Hz. When configuring packet rates it is essential to ensure the baud rate is capable of handling
the data throughput. This can be calculated using the rate and packet size. The packet size is the
packet length add five to account for the packet overhead. For example to output the system state
packet at 50Hz the calculation would be:
Data throughput = (100 (packet length) + 5 (fixed packet overhead)) * 50 (rate)
Data throughput = 5250 bytes per second
Minimum baud rate = data throughput x 11 = 57750 Baud
Closest standard baud rate = 115200 Baud
When multiple packets are set to output at the same rate, the order the packets output is from
lowest ID to highest ID.
9.6

Packet Summary

Packet ID Length
0 4
1 -
2 1
3 24
4 4
5 4
20 100
21 8
22 14
23 4
24 12
25 12
26 12
27 16
R/W
System Packets
R
W
R/W
R
W
W
State Packets
R
R
R
R
R
R
R Euler Orientation Standard Deviation Packet
R Quaternion Orientation Standard Deviation Packet
Spatial OEM Reference Manual
Page 50 of 88
Name
Acknowledge Packet
Request Packet
Boot Mode Packet
Device Information Packet
Restore Factory Settings Packet
Reset Packet
System State Packet
Unix Time Packet
Formatted Time Packet
Status Packet
Position Standard Deviation Packet
Velocity Standard Deviation Packet
Version 2.7