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IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu
4.2.27
TSS3
Available from firmware 2.98
The default SMC pitch rotation direction definition differs from TSS3 format definition. By this reason
the axis inversion checkbox for
Pitch
must be ticked to have the correct rotational direction as per
the TSS3 string definition, where positive Pitch is bow up.
Use the SMC IMU Configuration Software
to change the inverted Pitch if required. As default when selecting the TSS3 string the configuration
software will tick the checkbox for the pitch axis inversion.
Data Frame
:RMhhhhSMHHHHQMRRRRSMPPPP<CR><LF>
Example
:R 0014 0014H 0037 0983
Bitrate
Max output Rate
115200
100
57600
100
38400
100
19200
67
9600
33
4800
16
Description
Form
Start Character (:R)
Value prefix (M)
M = space if positive, - if negative
Remote Heave (hhhh)
Remote Heave unit cm
Space Character (S)
Value prefix (M)
M = space if positive, - if negative
Heave (HHHH)
Heave unit cm
Status Flag (Q)
U’ Unaided mode Running
‘u’ Unaided mode Startup
‘G’ GPS Aided mode Running
‘g’ GPS Aided mode Startup
‘H’ Heading Aided mode Running
‘h’ Heading Aided mode Startup
‘F’ Full Aided mode Running
‘f’ Full Aided mode Startup
Value prefix (M)
M = space if positive, - if negative
Roll (RRRR)
Roll unit hundredths of degrees (+ve=port up)
Space Character (S)
Value prefix (M)
M = space if positive, - if negative
Pitch
Pitch unit hundredths of degrees (+ve=bow up)
Termination Characters
<CR><LF>
