10.5.4.1 Alignment DCM
The alignment DCM (Direction Cosine Matrix) is used to represent an alignment offset of GNSS Compass 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)
10.5.5 Filter Options Packet
Filter Options Packet
Packet ID
186
Length
17
Read / Write
Read / Write
Field #
Bytes Off-
set
Data
Type
Size
Description
1
0
u8
1
Permanent
2
1
u8
1
3
2
u8
1
Internal GNSS enabled (boolean)
4
3
u8
1
Reserved (set to zero)
5
4
u8
1
Atmospheric altitude enabled
(boolean)
6
5
u8
1
Velocity heading enabled (boolean)
7
6
u8
1
Reversing detection enabled
(boolean)
8
7
u8
1
Motion analysis enabled (boolean)
9
8
u8
1
Reserved (set to zero)
10
9
8
Reserved (set to zero)
Table 103: Filter Options Packet
10.5.5.1 Vehicle Types
Value
Description
0
Unlimited
1
Bicycle or Motorcycle
v2.0
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GNSS Compass Reference Manual • Advanced Navigation Packet Protocol
Summary of Contents for GNSS Compass
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