5.3.4.16 Vnisl - Safran VersaSync User Manual

Table 5-23:
Name
Reserved
IMU Error
Mag/Pres
Error
GPS Error

5.3.4.16 VNISL

Output Type: INS State - LLA
Register ID: 72
Async Header: ISL
Access: Read Only
Size (Bytes): 72
Example
+00.000295,
+00179.592, +000.181, -000.073, -000.050, +00.209, -00.322, -10.040*52
Table 5-24:
Offset
0
4
8
12
VersaSync User Manual
Error Bitfield
Bit Off-
Format
set
0 1 bit
1 1 bit
2 1 bit
3 1 bit
Note: You can configure the device to output this register at a fixed
rate using the Async Data Output Type Register in the System sub-
system. Once configured the data in this register will be sent out
with the $VNINE header.
Read Response:
- 00.000911,
VNISL Settings
Name Format
Yaw float
Pitch float
Roll float
Latitude double
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.
$VNRRG, 72, +170.420,
- 00.000905, +32.95680804,
Unit
deg Yaw angle relative to true north.
deg Pitch angle relative to horizon.
deg Roll angle relative to horizon.
deg Estimated position in geodetic latitude.
Description
+001.398, +001.806,
- 096.71414860,
Description
APPENDIX
339