Packets Period Packet; Clear Existing Packets; Packet Period - Advanced Navigation Spatial OEM Reference Manual

9.9.2

Packets Period Packet

Packet ID
Length
Field # Bytes
Offset
1 0
2 1
3 2
4 3
+
Table 67: Packets period packet
9.9.2.1

Clear Existing Packets

This is a boolean field, when set to one it deletes any existing packet rates. When set to zero
existing packet rates remain. Only one packet rate can exist per packet ID, so new packet rates will
overwrite existing packet rates for the same packet ID.
9.9.2.2

Packet Period

This indicates the period in units of the packet timer period. The packet rate can be calculated as
follows.
Packet Rate = 1000000/(Packet Period x Packet Timer Period) Hz
For example if the packet timer period is set to 1000 (1 ms). Setting packet ID 20 with a packet
period of 50 will give the following.
Packet 20 Rate = 1000000/(50 x 1000)
Packet 20 Rate = 20 Hz
Packets Period Packet
Data Size
Type
u8 1
u8 1
u8 1
u32 4
Spatial OEM Reference Manual
2 + (5 x number of packet periods)
Description
Permanent
Clear existing packet periods, see section 9.9.2.1
Packet period, see section 9.9.2.2
Fields 3-4 repeat for additional packet periods
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Packet ID