CSI Wireless Vector Sensor Reference Manual page 100

An example of the response to this message follows.
$>JATT,SUMMARY,TAU:H=0.50,HR=2.00,P=0.50,COG=0.00,SPD=0.00,BIAS:H=0.00,P=0.00,FLA
Field
htau
hrtau
ptau
cogtau
spdtau
hbias
pbias
hexflag
The 'GN-RMTL' field is two separate hex flags, 'GN' and 'RMTL'. The 'GN' value is determined by
computing the sum of the gyro aiding and negative tilt values, depending if they are on or off. If the
feature is on, their value is included in the sum. If the feature is off, it has a value of zero when
computing the sum. The value of RMTL is computed in the same fashion but by adding the values
of roll, magnetic aiding, tilt aiding, and level operation.
For example, if gyro aiding, roll, and magnetic aiding features were each on, the values of 'GN' and
'RMTL' would be the following:
The following tables summarize the possible feature configurations for the first GN character and
the second RMTL character.
Vector Sensor Reference Manual
G_HEX:GN-RMTL=01
Description
This data field provides the current heading time constant in seconds.
This data field provides the current heading rate time constant in seconds
This data field provides the current pitch time constant in seconds
This data field provides the current course over ground time constant in
seconds
This data field provides the current speed time constant in seconds
This data field gives the current heading bias in degrees
This data field gives the current pitch / roll bias in degrees
This field is a hex code that summarizes the heading feature status and is
described in the following table
Flag
Feature On
Gyro aiding
Negative tilt
Roll
Magnetic aiding
Tilt aiding
Level
GN = hex ( 02 + 0 ) = hex ( 02 ) = 2
RMTL = hex ( 08 + 04) = hex (12) = C
'GN-RMTL' = 2C
Value
Feature Off
02 0
01 0
08 0
04 0
02 0
01 0
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