Advanced Navigation Motus, Справочное руководство

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Motus Reference Manual
Page 5 of 146
Version 1.1
29/11/2019
15.4.31 Event 1 Input.......................................................................................... 95
15.4.32 Event 2 Input.......................................................................................... 95
15.4.33 TSS1 Output........................................................................................... 95
15.4.34 Simrad 1000 Output...............................................................................95
15.4.35 Simrad 3000 Output...............................................................................96
15.4.36 Serial Port Passthrough...........................................................................96
15.4.37 Gimbal Encoder Phase A.........................................................................96
15.4.38 Gimbal Encoder Phase B.........................................................................96
15.4.39 Odometer Direction, Forward Low..........................................................96
15.4.40 Odometer Direction, Forward High.........................................................96
15.4.41 Reverse Alignment, Forward Low............................................................96
15.4.42 Reverse Alignment, Forward High..........................................................96
15.4.43 Zero Angular Velocity Input....................................................................96
16 Advanced Navigation Packet Protocol.....................................................................97
16.1 Data Types....................................................................................................... 97
16.2 Packet Structure..............................................................................................97
16.2.1 Header LRC...............................................................................................98
16.2.2 Packet ID.................................................................................................. 98
16.2.3 Packet Length...........................................................................................98
16.2.4 CRC........................................................................................................... 98
16.3 Packet Requests..............................................................................................98
16.4 Packet Acknowledgement................................................................................98
16.5 Packet Rates.................................................................................................... 99
16.6 Packet Timing.................................................................................................. 99
16.7 Packet Summary.............................................................................................. 99
16.8 System Packets.............................................................................................. 101
16.8.1 Acknowledge Packet...............................................................................101
16.8.1.1 Acknowledge Result........................................................................102
16.8.2 Request Packet.......................................................................................102
16.8.3 Boot Mode Packet...................................................................................103
16.8.3.1 Boot Mode Types.............................................................................103
16.8.4 Device Information Packet......................................................................103
16.8.5 Restore Factory Settings Packet..............................................................104
16.8.6 Reset Packet...........................................................................................104
16.8.6.1 Verification Sequence Values...........................................................104
16.8.7 Serial Port Pass-through Packet..............................................................104
16.8.7.1 Pass-through Routes........................................................................104
16.9 State Packets................................................................................................. 106
16.9.1 System State Packet...............................................................................106
16.9.1.1 System Status.................................................................................107
16.9.1.2 Filter Status.....................................................................................108
16.9.1.3 GNSS Fix Status...............................................................................108
16.9.1.4 Unix Time Seconds..........................................................................109
16.9.1.5 Microseconds...................................................................................109
16.9.2 Unix Time Packet....................................................................................109
16.9.3 Formatted Time Packet...........................................................................109
16.9.4 Status Packet..........................................................................................109
16.9.5 Position Standard Deviation Packet........................................................110
16.9.6 Velocity Standard Deviation Packet........................................................110
16.9.7 Euler Orientation Standard Deviation Packet..........................................110