iXBlue Octans, Configuration User Manual

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AHRS - Advanced Configuration - User Guide
MU-AHRS-AN-002 Ed. E November 2015 13
4.7 Main Lever Arm
To configure main monitoring point lever arm from the AHRS:
Message
$PHLEV,x.x,y.y,z.z*hh<CR><LF>
Title
Lever Arms Configuration
Data Field Semantics Unit Type
x.x XV1 lever arm m Float
y.y XV2 lever arm m Float
z.z XV3 lever arm m Float
To retrieve main monitoring point lever arms from the AHRS:
$PHLEV,,*47<CR><LF>
4.8 Secondary Lever Arms
To configure secondary monitoring point lever arms from the AHRS:
Message
$PHLVx,x.x,y.y,z.z*hh<CR><LF>
Title
Lever Arms Configuration
Data Field Semantics Unit Type
x Lever arm (‘A’, ‘B’ or ‘C’) N/A Char
x.x XV1 lever arm m Float
y.y XV2 lever arm m Float
z.z XV3 lever arm m Float
To retrieve secondary monitoring point lever arms from the AHRS:
$PHLVA,,*43<CR><LF>
$PHLVB,,*40<CR><LF>
$PHLVC,,*41<CR><LF>
4.9 Center of Gravity Position
This is not available for OCTANS NANO product.
To configure center of gravity position relative to the AHRS:
Message
$PHCNF,COG___,x.x,y.y,z.z*hh<CR><LF>
Title
Lever Arms Configuration
Data Field Semantics Unit Type
x.x XV1 cog m Float
y.y XV2 cog m Float
z.z XV3 cog m Float
(please note the 3 underscore(’’_’’) characters after COG header)
To retrieve center of gravity from the AHRS:
$PHCNF,COG___,,*6B<CR><LF>