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Motus Reference Manual
Page 109 of 146
Version 1.1
29/11/2019
16.9 State Packets
Motus supports a large number of packets providing extensive functionality. However
for the majority of users the easiest approach is to configure Motus using the Motus
Manager software and then support only the single system state packet shown below
in section 16.9.1. Advanced functionality can be added as required through the other
packets.
16.9.1 System State Packet
System State Packet
Packet ID 20
Length 100
Field
#
Bytes
Offset
Data
Type
Size Description
1 0 u16 2 System status, see section 16.9.1.1
2 2 u16 2 Filter status, see section 16.9.1.2
3 4 u32 4 Unix time seconds, see section 16.9.1.4
4 8 u32 4 Microseconds, see section 16.9.1.5
5 12 fp64 8 Latitude (rad)
6 20 fp64 8 Longitude (rad)
7 28 fp64 8 Height (m)
8 36 fp32 4 Velocity north (m/s)
9 40 fp32 4 Velocity east (m/s)
10 44 fp32 4 Velocity down (m/s)
11 48 fp32 4 Body acceleration X (m/s/s)
12 52 fp32 4 Body acceleration Y (m/s/s)
13 56 fp32 4 Body acceleration Z (m/s/s)
14 60 fp32 4 G force (g)
15 64 fp32 4 Roll (radians)
16 68 fp32 4 Pitch (radians)
17 72 fp32 4 Heading (radians)
18 76 fp32 4 Angular velocity X (rad/s)
19 80 fp32 4 Angular velocity Y (rad/s)
20 84 fp32 4 Angular velocity Z (rad/s)
21 88 fp32 4 Latitude standard deviation (m)
22 92 fp32 4 Longitude standard deviation (m)
23 96 fp32 4 Height standard deviation (m)