GNSS Compass Reference Manual
Page 2 of 85
Version 1.1
13/01/2021
9 Operation.................................................................................................................................. 38
9.1 Initialisation....................................................................................................................... 38
9.1.1 Hot Start....................................................................................................................38
9.2 Dual Antenna GNSS Heading...........................................................................................38
9.3 GNSS Outages.................................................................................................................38
9.4 NMEA 2000.......................................................................................................................39
9.5 NMEA 0183.......................................................................................................................39
9.6 Precise Time Protocol (PTP).............................................................................................40
10 Advanced Navigation Packet Protocol....................................................................................42
10.1 Data Types......................................................................................................................42
10.2 Packet Structure.............................................................................................................42
10.2.1 Header LRC............................................................................................................43
10.2.2 Packet ID.................................................................................................................43
10.2.3 Packet Length.........................................................................................................43
10.2.4 CRC........................................................................................................................ 43
10.3 Packet Requests.............................................................................................................43
10.4 Packet Acknowledgement...............................................................................................44
10.5 Packet Rates..................................................................................................................44
10.6 Baud Rate.......................................................................................................................44
10.7 Packet Timing.................................................................................................................44
10.8 Packet Summary.............................................................................................................44
10.9 System Packets..............................................................................................................47
10.9.1 Acknowledge Packet...............................................................................................47
10.9.1.1 Acknowledge Result.........................................................................................47
10.9.2 Request Packet.......................................................................................................47
10.9.3 Boot Mode Packet...................................................................................................47
10.9.3.1 Boot Mode Types.............................................................................................48
10.9.4 Device Information Packet.......................................................................................48
10.9.5 Restore Factory Settings Packet.............................................................................48
10.9.6 Reset Packet...........................................................................................................49
10.9.6.1 Verification Sequence Values...........................................................................49
10.9.7 Serial Port Pass-through Packet..............................................................................49
10.9.7.1 Pass-through Routes.......................................................................................50
10.10 State Packets................................................................................................................50
10.10.1 System State Packet.............................................................................................51
10.10.1.1 System Status................................................................................................52
10.10.1.2 Filter Status....................................................................................................53
10.10.1.3 GNSS Fix Status............................................................................................53
10.10.1.4 Unix Time Seconds........................................................................................53
10.10.1.5 Microseconds.................................................................................................54
10.10.2 Unix Time Packet..................................................................................................54
10.10.3 Formatted Time Packet.........................................................................................54
10.10.4 Status Packet........................................................................................................55
10.10.5 Position Standard Deviation Packet......................................................................55
10.10.6 Velocity Standard Deviation Packet.......................................................................55
10.10.7 Euler Orientation Standard Deviation Packet........................................................56
10.10.8 Quaternion Orientation Standard Deviation Packet...............................................56
10.10.9 Raw Sensors Packet.............................................................................................57
10.10.10 Raw GNSS Packet..............................................................................................58
10.10.10.1 Raw GNSS Status.......................................................................................59
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