Watson Industries, Inc.
DMS-EGP01 Rev A 02/12/2015
8
The error over-range condition is indicated by the use of a lower case “i” or “r” when the calculated
attitude or heading error exceeds the ranges listed above. Internal functions that require these error
values are disabled while the condition exists. The system will continue to operate in an extended
time constant mode with a low level of error accumulation until the condition is cleared. While
maneuvering the vehicle, occasional blips of this condition are expected with no detectable effect
on the resulting data.
The other output format available is a binary format. In this mode, the unit provides generally the
same information as the decimal ASCII format, but in a compact binary message. In this format,
there are nominally 13 words sent that represent 6 fourteen-bit output channels followed by a
carriage return. Again, the channels may be reduced to to improve the update rate by using special
commands to modify the EEPROM of the unit. This format is for highly experienced users only.
Consult the factory for further details.
RS-232 Input Commands
The RS-232 input commands are provided for the purpose of unit test and installation set-up. Use
the same parameters that are used for the RS-232 output (9600 baud ASCII nominal, or as reset in
the units EEPROM).
Note: Many commands require command or “Double spacebar mode” in order to access them. For
more information on how to activate Command Mode, see the instructions in the second part of
Appendix A.
These commands are available to the user (others are used at the factory for alignment and
calibration).
1.
An “R” or “r” will set the outputs (analog and serial) to their Reference Command modes.
This will also disable the logic input Reference Command and Free Mode Command until
the next time the unit is powered up. This mode is used in installation to physically align
the unit. Double spacebar at initialization is required for access to this command.
2.
An “I” or “i” sets the unit to Inertial mode. This is the default mode at power up and is the
normal operating mode. Switching to this mode clears the Reference Command mode if it
had been set by the serial input. This will also disable the logic input Reference Command
and Free Mode Command until the next time the unit is powered up. Double spacebar at
initialization is required for access to this command.
3.
An “F” or “f” will disconnect the references from the attitude system and is the Free Mode
Command. Free mode is used to make the system ignore the references during high
maneuvers and brief disturbances. This mode is not intended for use except in brief
intervals, since errors will grow geometrically. This will also disable the logic input
Reference Command and Free Mode Command until the next time the unit is powered up.
Double spacebar at initialization is required for access to this command.
4.
An “H” or “h” will remove bias correction from the system and is the Hold Mode
Command. This mode is useful is highly dynamic situations that may last for a few minutes.
Hold mode should not be used for more than a few minutes, because errors can accumulate.
Double spacebar at initialization is required for access to this command.
5.
A “K” or “k” will clear the Free Mode Command and Hold Mode Command.
