Advanced Navigation GNSS Compass, Reference Manual

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10.5.8 Reference Point Offsets Packet
The reference point offsets packet can be used to adjust the measurement point that all data is referenced to.
By default all the values of this packet are zero and the measurement point that all data is referenced to is the
centre of the GNSS Compass unit. The primary reference point offset can be used to adjust the measurement
point to a different location on the vehicle, in the body co-ordinate frame. The primary reference point offset
applies to all data output including NMEA etc as well as heave point 1.
The other heave point offsets apply only to heave points 2-4 in the 10.4.35 Heave Packet .
Reference Point Offsets Packet
Packet ID 194
Length 49
Read / Write Read / Write
Field # Bytes
Offset Data
Type Size Description
1 0 u8 1 Permanent
2 1 fp32 4 Heave point 1 offset X (m) / Primary reference
point offset X (m)
3 5 fp32 4 Heave point 1 offset Y (m) / Primary reference
point offset Y (m)
4 9 fp32 4 Heave point 1 offset Z (m) / Primary reference
point offset Z (m)
5 13 fp32 4 Heave point 2 offset X (m)
6 17 fp32 4 Heave point 2 offset Y (m)
7 21 fp32 4 Heave point 2 offset Z (m)
8 25 fp32 4 Heave point 3 offset X (m)
9 29 fp32 4 Heave point 3 offset Y (m)
10 33 fp32 4 Heave point 3 offset Z (m)
11 37 fp32 4 Heave point 4 offset X (m)
12 41 fp32 4 Heave point 4 offset Y (m)
13 45 fp32 4 Heave point 4 offset Z (m)
Table 109: Reference Point Offsets Packet
v2.0 Page 118 04 Nov 2021
GNSS Compass Reference Manual • Advanced Navigation Packet Protocol