UM001
41
4.4
Binary Group 1 – Common Outputs
Binary group 1 contains a wide assortment of commonly used data required for most applications. All of
the outputs found in group 1 are also present in the other groups. In this sense, group 1 is a subset of
commonly used outputs from the other groups. This simplifies the configuration of binary output
messages for applications that only require access to the commonly used data found in group 1. For these
applications you can hard code the group field to 1, and not worry about implemented support for the
other binary groups. Using group 1 for commonly used outputs also has the advantage of reducing the
overall packet size, since the packet length is dependent upon the number of binary groups active.
Binary Group 1
Name
Bit Offset
Description
TimeStartup 0
Time since startup.
Reserved
1
Reserved. Not used on this product.
TimeSyncIn
2
Time since last SyncIn trigger.
Ypr
3
Estimated attitude as yaw pitch and roll angles.
Qtn
4
Estimated attitude as a quaternion.
AngularRate 5
Compensated angular rate.
Reserved
6
Reserved. Not used on this product.
Reserved
7
Reserved. Not used on this product.
Accel
8
Estimated acceleration (compensated). (Body)
Imu
9
Calibrated uncompensated gyro and accelerometer
measurements.
MagPres
10
Calibrated magnetic (compensated), temperature,
and pressure measurements.
DeltaTheta
11
Delta time, theta, and velocity.
InsStatus
12
INS status.
SyncInCnt
13
SyncIn count.
Reserved
14
Reserved. Not used on this product.
Resv
15
Reserved for future use. Should be set to zero.
4.4.1
Time Startup
The system time since startup measured in nano seconds. The time since startup is based upon the
internal TXCO oscillator for the MCU. The accuracy of the internal TXCO is +/- 20ppm (-40C to 85C). This
field is equivalent to the TimeStartup field in group 2.
TimeStartup
Byte Offset
0
1
2
3
4
5
6
7
Type
uint64
4.4.2
TimeSyncIn
The time since the last SyncIn trigger event expressed in nano seconds. This field is equivalent to the
TimeSyncIn field in group 2.
TimeSyncIn
Byte Offset
0
1
2
3
4
5
6
7
Type
uint64
