HG1120 Installation and Interface Manual
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aerospace.honeywell.com/HG1120
10
Table 8. Inertial Message (0x05 Data Format)
POSITION
PARAMETER
LENGTH
(BYTES)
LSB WEIGHT
UNITS OR CONTENTS
1
IMU Address
1
N/A
Constant 0x0E
2
Message ID
1
N/A
Constant 0x05
3-13
Control Data
22
N/A
Contents same as Message 0x04
Positions 3-13.
14
Delta Angle X
4
2
-34
radians/LSB
or equivalently,
radians/second/Hz/LSB
15
Delta Angle Y
4
2
-34
16
Delta Angle Z
4
2
-34
17
Delta Velocity X
4
2
-28
0.3048 meters/sec/LSB
or equivalently,
0.3048 meters/sec
2
/Hz/LSB
18
Delta Velocity Y
4
2
-28
19
Delta Velocity Z
4
2
-28
20
Checksum
Sum of all message data (positions
1-19 of this table), taken as 16 bit
words, and summed without regard for
rollover.
2
N/A
// this pseudo code illustrates the
checksum algorithm
u16sum = 0;
for (i=0; i<24; i++) // (50-2)/2=24
{ = u16_msg_array[i]; }
Checksum = u16_msg_array[24];
if (Checksum != u16sum) {checksum
error}
Total
50
Table 9. Asynchronous Control Message (0x0C Data Format)
POSITION
PARAMETER
LENGTH
(BYTES)
LSB WEIGHT
UNITS OR CONTENTS
1
IMU Address
1
N/A
Constant 0x0E
2
Message ID
1
N/A
Constant 0x0C
3
Angular Rate X
2
2
-20
* 600
rad/sec/LSB
4
Angular Rate Y
2
2
-20
* 600
rad/sec/LSB
5
Angular Rate Z
2
2
-20
* 600
rad/sec/LSB
6
Linear Acceleration X
2
2
-14
* 600
0.3048 meters/sec
2
/LSB
7
Linear Acceleration Y
2
2
-14
* 600
0.3048 meters/sec
2
/LSB
8
Linear Acceleration Z
2
2
-14
* 600
0.3048 meters/sec
2
/LSB
9
Mag Field X
2
0.438404
Milli-gauss/LSB
10
Mag Field Y
2
0.438404
Milli-gauss/LSB
11
Mag Field Z
2
0.438404
Milli-gauss/LSB
12
Main Status Word
2
N/A
See Table 4
13
Detailed Multiplexed Status Word
2
N/A
See Table 5
14
Checksum
Sum of all message data (positions
1-13 of this table), taken as 16 bit
words, and summed without regard for
rollover.
2
N/A
// this pseudo code illustrates the
checksum algorithm
u16sum = 0;
for (i=0; i<12; i++) // (26-2)/2=12
{ = u16_msg_array[i]; }
Checksum = u16_msg_array[12];
if (Checksum != u16sum) {checksum
error}
Total Length
26
