SeaTrac Serial Command Interface Reference
Page 77
second.
Attitude Fields
If the message STATUS_OUTPUT parameter contains the ATTITUDE bit (see
then the following fields are sequentially appended to the message record.
For details of attitude definitions refer to section 9.1 on page 136.
ATT_YAW
INT16
The current Yaw angle of the beacon, relative to
magnetic north, measured by the beacons AHRS
system.
Values are encoded as deci-degrees, so divide the
value by 10 to obtain a value in degrees.
ATT_PITCH
INT16
The current Pitch angle of the beacon, relative to
magnetic north, measured by the beacons AHRS
system.
Values are encoded as deci-degrees, so divide the
value by 10 to obtain a value in degrees.
ATT_ROLL
INT16
The current Roll angle of the beacon, relative to
magnetic north, measured by the beacons AHRS
system.
Values are encoded as deci-degrees, so divide the
value by 10 to obtain a value in degrees.
Magnetometer Calibration and Status Fields
If the message STATUS_OUTPUT parameter contains the MAG_CAL bit (see
then the following fields are sequentially appended to the message record.
These fields are commonly used to monitor the current magnetic calibration state and to assist
with the magnetometer calibration procedure.
MAG_CAL_BUF
UINT8
Value that indicates how full the data buffer is that
holds magnetometer values describing the
surrounding magnetic environment.
Values are encoded as a percentage from 0 to 100
representing empty (where no magnetic calibration
is possible) to full (where the best magnetic
calibration can be computed).
MAG_CAL_VALID
BOOLEAN
The flag is True if a magnetic calibration has been
computed and is currently in use, compensating
magnetometer readings.
MAG_CAL_AGE
UINT32
The number of seconds that have elapsed since the
magnetometer calibration was last computed.
When dynamic calibration is enabled, and there is
sufficient data in the magnetic calibration buffer,
then calibrations should be computed every 30
