DMU380SA Series
User’s Manual
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Doc# 7430-0026 Rev. 01
Page 62
8
Advanced Commands
The advanced commands allow users to programmatically change the DMU380SA Series
settings. This section of the manual documents all of the settings and options contained
under the Unit Configuration tab within NAV-VIEW. Using these advanced commands,
a user
’
s system can change or modify the settings without the need for NAV-VIEW.
Configuration Fields
8.1
Configuration fields determine various behaviors of the unit that can be modified by the
user. These include settings like baud rate, packet output rate and type, algorithm type,
etc. These fields are stored in EEPROM and loaded on power up. These fields can be
read from the EEPROM using the ‘RF’ command.
These fields can be written to the
EEPROM affecting the default power up behavior using the ‘WF’ command.
The current
value of these fields (which may be different from the value stored in the EEPROM) can
also be accessed using the ‘GF’ command.
All of these fields can also be modified
immediately for the duration of the current power cycle using the ‘SF’ comma
nd. The
unit will always power up in the configuration stored in the EEPROM. Configuration
fields can only be set or written with valid data from Table 22 below.
Table 22.
Configuration Fields
configuration fields
field ID
Valid Values
description
Packet rate divider
0x0001
0,1,2,5,10, 20, 25, 50 quiet, 100Hz, 50Hz, 25Hz, 20Hz, 10Hz, 5Hz, 2Hz
Unit BAUD rate
0x0002
0,1,2,3
9600, 19200, 38400, 57600
Continuous packet type
0x0003
Any output packet
type
Not all output packets available for all products.
See detailed product descriptions.
Unused
0x0004
Gyro Filter Setting
0x0005
7142-65535 [5Hz]
3571-7141 [10Hz]
1530-3570 [20Hz]
0-1529 [50 Hz]
Sets low pass cutoff for rate sensors. Cutoff
Frequency choices are 5, 10, 20, and 50Hz
Accelerometer Filter Setting 0x0006
7142-65535 [5Hz]
3571-7141 [10Hz]
1530-3570 [20Hz]
0-1529 [50 Hz]
Sets low pass cutoff for accelerometers. Cutoff
Frequency choices are 5, 10, 20, and 50Hz
Orientation
0x0007
See below
Determine forward, rightward, and downward
facing sides
User Behavior Switches
0x0008
Any
Free Integrate (60 seconds), Use Mags, Use GPS,
Stationary Yaw Lock, …
X Hard Iron Bias
0x0009
Any
I2 scaled from [-1,1)
Y Hard Iron Bias
0x000A
Any
I2 scaled from [-1,1)
Soft Iron Scale Ratio
0x000B
Any
U2 scaled from [0,2)
Heading Track Offset
0x000C
Any
Heading-Track Offset to use in NAV filter track
update mode.
Note: BAUD rate SF has immediate effect. Some output data may be lost. Response will
be received at new BAUD rate.
Continuous Packet Type Field
8.2
This is the packet type that is being continually output. The supported packet depends on
the model number. Please refer to Section 6.4 for a complete list of the available packet
types.
