UC-00-M10 EN R1
Hardware Design
17
5.6.4
Reference Messages
1. CFGROTAT
Message format: $ CFGROTAT,angleR, angleF, angleU, mode
Description: Set or output the installation angle configurations of the module with
respect to the vehicle coordinate system.
Parameters:
◆
angleR, angleF and angleU, refer to the 5.6.2 for details with the unit of 0.01°
◆
mode, which stands for the installation angle configuration mode:
0 – General installation mode, the input value of the installation angle is relatively
coarse (within 10deg)
2 – Automatic installation mode, no installation angle is required.
Remark:
1) Choose 2 for free installation mode and 0 for fixed installation;
2) Input the actual installation angles including angleR, angleF, and angleU into the
module. After the configuration is completed, save the configuration to the flash
through the CFGSAVE command, otherwise it needs to be identified again at the
next boot.
3) Any configuration on the INS will cause the INS module to be re-initialized during
normal operation or after power-off and restart, and the previously completed or
ongoing calibration operations will be reset;
2. SNRSTAT
Message format: $SNRSTAT,insstatus,odostatus, InstallState, Mapstat
Description: Output initial status (applicable for both fixed installation mode and
free installation mode)
Parameters:
◆
insstatus: Initial status of INS
-1: IMU device failure
0: Disabled
1: initialized
2: The installation angle is known
3: Initialization is completed
◆
odostatus: Odometer initialization status