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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)
9.9.6
Filter Options Packet
Packet ID
Length
Field #
Bytes
Offset
1
0
2
1
3
2
4
3
5
4
6
5
7
6
8
7
9
8
10
9
11
10
12
11
13
12
14
13
15
14
16
15
17
16
Table 74: Filter options packet
Filter Options Packet
Data
Size
Type
u8
1
u8
1
u8
1
u8
1
u8
1
u8
1
u8
1
u8
1
u8
1
u8
1
u8
1
u8
1
u8
1
u8
1
u8
1
u8
1
u8
1
Spatial OEM Reference Manual
186
17
Description
Permanent
Vehicle type, see section 9.9.6.1
Internal GNSS enabled (boolean)
Magnetometers enabled (boolean)
Atmospheric altitude enabled (boolean)
Velocity heading enabled (boolean)
Reserved (set to zero)
Reserved (set to zero)
Reserved (set to zero)
Reserved (set to zero)
Reserved (set to zero)
Reserved (set to zero)
Reserved (set to zero)
Reserved (set to zero)
Reserved (set to zero)
Reserved (set to zero)
Reserved (set to zero)
Page 78 of 88
Version 2.7
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