LORD 3DM-GX5-35, Руководство пользователя

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3DM
®
-GX5-35
DCP Manual
Reply Field :
ACK/NACK
0x75 0x65 0x0C 0x04 0x04 0xF1
Echo cmd: 0x3A
Error code: 0x00
0x19 0x1E
Copy-Paste version of the command: “7565 0C0F 0F3A 0100 0000 0000 0000 0000 0000 003F 9F”
4.2.17 Magnetometer Soft Iron Matrix (0x0C, 0x3B)
Description
This command will read or write values to the magnetometer Soft Iron Compensation Mat-
rix.
The values for this matrix are determined empirically by external software algorithms
based on calibration data taken after the device is installed in its application. These values
can be obtained and set by using the LORD “MIP Iron Calibration” application. Altern-
atively, the
auto-mag calibration feature may be used to capture these values in-run. The
matrix is applied to the scaled magnetometer vector prior to output
Possible function selector values:
0x01 - Apply new settings
0x02 – Read back current settings
0x03 – Save current settings as startup settings
0x04 – Load saved startup settings
0x05 – Load factory default settings
0x06 - Apply new settings with no ACK/NACK reply
Default values:
Soft Iron Compensation Matrix: (identity matrix; row order):
[1,0,0][0,1,0][0,0,1]
Field Format
Field Length
Field
Descriptor
Field Data
Command 0x27 0x3B
U8 – Function selector
float – m
1,1
float – m
1,2
float – m
1,3
float – m
2,1
float – m
2,2
float – m
2,3
float – m
3,1
float – m
3,2
float – m
3,3
Reply Field 1:
ACK/ NACK
0x04 0xF1
U8 - echo the command descriptor
U8 - error code (0: ACK, non-zero: NACK)
Reply Field 2:
Function = 2
0x26 0x9D
float – m
1,1
float – m
1,2
float – m
1,3
float – m
2,1
float – m
2,2
float – m
2,3
float – m
3,1
float – m
3,2
float – m
3,3
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