Alignment Dcm; Filter Options Packet; Vehicle Types - Advanced Navigation Certus OEM Reference Manual

Certus Reference Manual • Advanced Navigation Packet Protocol

10.5.5.1 Alignment DCM

The alignment DCM (Direction Cosine Matrix) is used to represent an alignment offset of Certus from its
standard alignment. A DCM is used rather than Euler angles for accuracy reasons. To convert Euler angles to
DCM, use the formula below with angles in radians.
DCM[0][0] = cos(heading) * cos(pitch)
DCM[0][1] = sin(heading) * cos(pitch)
DCM[0][2] = -sin(pitch)
DCM[1][0] = -sin(heading) * cos(roll) + cos(heading) * sin(pitch) * sin(roll)
DCM[1][1] = cos(heading) * cos(roll) + sin(heading) * sin(pitch) * sin(roll)
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)

10.5.6 Filter Options Packet

Filter Options Packet
Packet ID
Length
Read / Write
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
Table 138: Filter Options Packet

10.5.6.1 Vehicle Types

Value
0
1
2
v2.4
Data Type Size
u8 1
u8 1
u8 1
u8 1
u8 1
u8 1
u8 1
u8 1
u8 1
u8 1
7
Description
Unlimited
Bicycle or Motorcycle
Car
186
17
Read / Write
Description
Permanent
10.5.6.1 Vehicle Types
Internal GNSS enabled (boolean)
Magnetic Heading enabled (boolean)
Atmospheric altitude enabled (boolean)
Velocity heading enabled (boolean)
Reversing detection enabled (boolean)
Motion analysis enabled (boolean)
Automatic magnetic calibration enabled (boolean)
Dual antenna disabled
Reserved (set to zero)
Page 191 2024-12-17