Automotive Packet - Advanced Navigation Certus OEM Reference Manual

Certus Reference Manual • Advanced Navigation Packet Protocol
Certus will output (read) values between -pi and pi for current angle.
Gimbal State Packet
Packet ID
Length
Read / Write
Field # Bytes Offset
1 0
2 4
Table 118: Gimbal State Packet

10.4.45 Automotive Packet

The value of the slip angle will be zero unless velocity is greater than 3.45 m/s and heading is valid.
Automotive Packet
Packet ID
Length
Read / Write
Field # Bytes Offset
1 0
2 4
3 8
4 12
5 16
6 20
Table 119: Automotive Packet
10.4.46 External Magnetometers Packet
Heading can be derived using the magnetometers of an additional external Advanced Navigation product to
input external magnetometer values.
The 2D, 3D or automatic magnetic calibration of Certus cannot be used to calibrate the external magnetometer
values. External magnetometers need to be calibrated before feeding into Certus.
To use External Magnetic Heading, disable Magnetic Heading Enabled and Automatic Magnetic Calibration
Enabled options in the
When sending external magnetometers the external heading flag will become active.
External Magnetometers Packet
Packet ID
v2.4
Data Type Size
fp32 4
4
Data Type Size
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
4
8.2.7.3 Filter Options
72
8
Read / Write
Description
Current angle (rad)
Reserved (set to zero)
73
24
Read
Description
Virtual odometer distance (m)
Slip Angle (rad)
Value reported is zero, unless heading is valid and the
velocity is greater than 3.45 m/s
Velocity X (m/s)
Velocity Y (m/s)
Distance standard deviation (m)
Reserved (set to zero)
of the Configuration Menu.
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