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AHRS - Advanced Configuration - User Guide
MU-AHRS-AN-002 Ed. E November 2015 10
4.5 Axis Orientation
To enter an axis orientation (rough misalignment):
Message
$PHORI,i*hh<CR><LF>
Title
Axis Orientation
Data Field Semantics Syntax Type
i Index of the rough misalignment See
Table 2 for index/orientation
correspondence and checksums
int
To retrieve the axis orientation – also called the rough misalignment –:
$PHORI,,*4C<CR><LF>
Important
Please: check logo and connector positions in the following table.
Table 2 - Matching between index i and AHRS axis orientation with associated checksum (hh)
i (hh) Orientation (Surface) Orientation (Subsea) i (hh) Orientation (Surface) Orientation (Subsea)
0
(50)
1
(51)
2
(52)
3
(53)
4
(54)
5
(55)