Memsic DMU380SA Series, User Manual

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DMU380SA Series
User’s Manual
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Doc# 7430-0026 Rev.01 Page 59
A2 Payload Contents
Byte Offset Name Format Scaling Units Description
0 rollAngle I2 2*pi/2^16
[360°/2^16] Radians
[°] Roll angle
2 pitchAngle I2 2*pi/2^16
[360°/2^16] Radians
[°] Pitch angle
4 yawAngleTrue I2 2*pi/2^16
[360°/2^16] Radians
[°] Yaw angle (free)
6 xRateCorrected I2 7*pi/2^16
[1260°/2^16] rad/s
[°/sec] X angular rate corrected
8 yRateCorrected I2 7*pi/2^16
[1260°/2^16] rad/s
[°/sec] Y angular rate corrected
10 zRateCorrected I2 7*pi/2^16
[1260°/2^16] rad/s
[°/sec] Z angular rate corrected
12 xAccel I2 20/2^16 g X accelerometer
14 yAccel I2 20/2^16 g Y accelerometer
16 zAccel I2 20/2^16 g Z accelerometer
18 xRateTemp I2 200/2^16 deg. C X rate temperature
20 yRateTemp I2 200/2^16 deg. C Y rate temperature
22 zRateTemp I2 200/2^16 deg. C Z rate temperature
24 timeITOW U4 1 ms DMU ITOW (sync to GPS)
Not Implemented
28 BITstatus U2 - - Master BIT and Status
7.4.5 Nav Data Packet 0
Nav Data (‘N0’ = 0x4E30)
Preamble Packet Type Length Payload Termination
0x5555 0x4E30 0x20 <N0 payload> <CRC (U2)>
This packet contains navigation data and selected sensor data scaled in most cases to a
signed 2^16 2’s complement number.
Data involving angular measurements include the
factor pi in the scaling and can be interpreted in either radians or degrees.
Angles: scaled to a range of [-pi,+pi) or [-180 deg to +180 deg).
Angular rates: scaled to range of 3.5* [-pi,+pi) or [-630 deg/sec to +630 deg/sec)
Accelerometers: scaled to a range of [-10,+10) g
Temperature: scaled to a range of [-100, +100) °C
Velocities are scaled to a range of [-256,256) m/s
Altitude is scaled to a range of [-
100,16284) m using a shifted 2’s complement
representation.
Longitude and latitude are scaled to a range of [-pi,pi) or [-180 deg to +180 deg).