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Spatial FOG Reference Manual
Page 102 of 144
Version 2.3
03/05/2018
13.9 State Packets
Spatial FOG supports a large number of packets providing extensive functionality.
However for the majority of users the easiest approach is to configure Spatial FOG
using the Spatial Manager software and then support only the single system state
packet shown below in section 13.9.1. Advanced functionality can be added as
required through the other packets.
13.9.1 System State Packet
System State Packet
Packet ID 20
Length 100
Field
#
Bytes
Ofset
Data
Type
Size Description
1 0 u16 2 System status, see section 13.9.1.1
2 2 u16 2 Filter status, see section 13.9.1.2
3 4 u32 4 Unix time seconds, see section 13.9.1.4
4 8 u32 4 Microseconds, see section 13.9.1.5
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)