Advanced Navigation Certus OEM Reference Manual page 209

Certus Reference Manual • Advanced Navigation Packet Protocol
Value Description
45 Odometer Direction, Forward Low
46 Odometer Direction, Forward High
51 Nortek DVL Input
53 Reverse Alignment, Forward Low
54 Reverse Alignment, Forward High
55 Zero Angular Velocity Input
Table 142: Auxiliary Functions
10.5.8 Magnetic Calibration Values Packet
This packet can be used to inspect the magnetic calibration values or write custom magnetic calibration values
to the system. Under normal operation with automatic magnetic calibration the user should not need to use this
packet.
Magnetic Calibration Values Packet
Packet ID
Length
Read / Write
Field # Bytes Offset
1 0
2 1
3 5
4 9
5 13
6 17
7 21
8 25
9 29
10 33
11 37
12 41
13 45
Table 143: Magnetic Calibration Values Packet
10.5.9 Magnetic Calibration Configuration Packet
Magnetic Calibration Configuration Packet
Packet ID
v2.4
Data Type Size
u8 1
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
189
49
Read / Write
Description
Permanent
Hard iron bias X
Hard iron bias Y
Hard iron bias Z
Soft iron transformation XX
Soft iron transformation XY
Soft iron transformation XZ
Soft iron transformation YX
Soft iron transformation YY
Soft iron transformation YZ
Soft iron transformation ZX
Soft iron transformation ZY
Soft iron transformation ZZ
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Auxiliary Function Type
Receive
2024-12-17