5-2
JNSGyro-4T Operator’s Manual
www.javad.com
C O M M A N D S A N D M E S S A G E S
The commands entered to Master
5
set,att/remote/imode,<mode>
, where mode = [none,rtcm,cmr] and the default
value is
none
(7) To enable (disable) the ASCII angles output,
set,att/debug/ang,on (off)
(8) To enable (disable) the ASCII baselines output in the WGS-84 frame,
set,att/debug/gt84,on (off)
(9) To switch from the delay mode to the extrapolation mode, the following
setting is used:
set,att/procmode,<mode>
,
where mode = [delay|extrapolation] the default value is
delay.
(10)
set,att/tcor,<value>
value belongs to [0.001, 10000] and means the correlation time (in seconds) of
the second-order Kalman filter (1 sec. by default). This parameter controls
“smoothness” of the result. The greater the value of “tcor”, the smoother the
attitude obtained.
(11)
set,att/gain,<value>
value is a dimensionless parameter belonging to [0.1, 10000]. It controls ability
of the filter to respond fast (1 by default). The greater the value of this
parameter, the faster the filter responds.
Generally, for fast and unpredictable dynamics, the sound values are
tcor = 0.1 and gain = 100.
For slow and smooth dynamics, the sound values are tcor = 10 and gain = 1.
(12)
set,att/arm,{n,r,b}
coordinates of the lever arm in the body frame, {0,0,0} by default; every
component belongs to the range [-10000, 10000].
(13)
set,att/armcalc,<mode>
where mode = [on,off,auto],
off
by default. It controls the lever arm
calculations. If it is
on
, the lever arm position is reported in the messages [RO],
[RG], [NR] (see below) if the attitude is available. Otherwise, if the attitude is
not available or the mode is
off
, the lever arm position is equal to NAN.
If the mode is
auto
, the reported position is the position of the reference point
corrected by the rotated lever arm if the attitude is available. If the attitude is not
available, the position is reported as the Master position.
(14) set,att/fixed,[on | off], on
by default.
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