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Motus Reference Manual
Page 127 of 146
Version 1.1
29/11/2019
16.9.34 External Depth Packet
External Depth Packet
Packet ID 53
Length 8
Field
#
Bytes
Offset
Data
Type
Size Description
1 0 fp32 4 Depth (m)
2 4 fp32 4 Depth standard deviation (m)
Table 82: External depth packet
16.9.35 Geoid Height Packet
This packet provides the offset at the current location between the WGS84 ellipsoid
and the EGM96 geoid model. This can be used to determine the current height above
mean sea level and also depth through the following equations:
Height Above Mean Sea Level = WGS84 Height – Geoid Height
Depth = Geoid Height – WGS84 Height
WGS84 Height is the height at the current location in the System State packet.
Geoid Height Packet
Packet ID 54
Length 4
Field
#
Bytes
Offset
Data
Type
Size Description
1 0 fp32 4 Geoid Height (m)
Table 83: Geoid height packet
16.9.36 External Pitot Pressure Packet
This packet is no longer supported. The External Air Data packet #68 should be used.
16.9.37 Wind Packet
This packet provides Motus's current 2D wind velocity. These values are only valid
when external air data is provided to Motus. This can be either through the External
Pitot Pressure Packet, the External Air Data Packet or when a pitot tube is interfaced to
one of the GPIO pins. When this packet is written to the device, it disables the wind
estimation filter and the wind values provided are used statically.
Wind Packet
Packet ID 57
Length 12