Blueprint Subsea seatrac X100 Series, Manual

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SeaTrac Serial Command Interface Reference
Page 88
7.5. Calibration Messages
Occasionally the beacon will need its onboard sensor calibrating, specifically the magnetometer
(to provider the magnetic north yaw heading for the AHRS system), and the pressure-sensor
offset for the depth computation (to compensate for atmospheric pressure changes).
The following calibration commands have been provided to allow application and developers
easy access to sensor calibration functions.
7.5.1. CID_CAL_ACTION
The Calibration Action command should be used at various times by external calibration
applications and algorithms to instruct to beacon to perform operations related to one of its
on-board sensors.
Command Message Parameters
Parameter Type Description
MSG_ID CID_E Command identification code
(CID_AHRS_CAL_SET)
ACTION CAL_ACTION_E The code of the calibration action that should be
performed. See below for further details of each
operation code.
Response Message Parameters
Parameter Type Description
MSG_ID CID_E Command identification code
(CID_AHRS_CAL_SET)
STATUS CST_E Status code used to indicate if the command
executed successfully.
Valid values are…
 CST_OK – The command was performed
successfully.
 CST_CMD_PARAM_MISSING – The
ACTION parameter was not specified
correctly.
Summary of Calibration Actions…
 CAL_ACC_DEFAULTS This operation sets the current accelerometer calibration
coefficients back to their values (of 0) in the AHRS
working
AHRSCAL_T settings.
However, this does not reset the currently measured
sensor limit values (output in the
CID_STATUS message),
that are used to determine the calibration coefficients by