Safran VersaSync User Manual page 350

APPENDIX
Table 5-19:
Mode
GpsFix
Error
Reserved
GpsHeadingIns
GpsCompass
Reserved
Table 5-20:
Name
Reserved
IMU Error
Mag/Pres
Error
GPS Error
336
INS Status
Name Bit Format
0 2 bits
2 1 bits
3 4 bits
7 1 bit
8 1 bit
9 1 bit
10 8 bits
Error Bitfield
Bit Off-
Format
set
0 1 bit
1 1 bit
2 1 bit
3 1 bit
Description
Indicates the current mode of the INS filter.
0 = Not tracking. GPS Compass is initializing. Output head-
ing is based on magnetometer measurements.
1 = Aligning. INS Filter is dynamically aligning. For a sta-
tionary startup: GPS Compass has initialized and INS Fil-
ter is aligning from the magnetic heading to the GPS
Compass heading. For a dynamic startup: INS Filter has
initialized and is dynamically aligning to True North head-
ing. In operation, if the INS Filter drops from INS Mode
2 back down to 1, the attitude undertainty has increased
above 2 degrees.
2 = Tracking. The INS Filter is tracking and operating
within specification.
3 = Loss of GPS. A GPS outage has lasted more than 45
seconds. The INS Filter will no longer update the position
and velocity outputs, but the attitude remains valid.
Indicates whether the GPS has a proper fix.
Sensor measurement error code. See table below. 0 = No
errors detected.
Reserved for internal use. May toggle state during
runtime and should be ignored.
In stationary operation, if set the INS Filter has fully
aligned to the GPS Compass solution.
In dynamic operation, the GPS Compass solution is cur-
rently aiding the INS Filter heading solution.
Indicates if the GPS compass is operational and reporting
a heading solution.
Reserved for internal use. These bits will toggle state and
should be ignored.
Reserved for future use and not currently used.
High if IMU communication error is detected.
High if Magnetometer or Pressure sensor error is detec-
ted.
High if GPS communication error is detected.
Description
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