DMU380ZA Series
User’s Manual
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Doc# 7430-3810 Rev. 02
Page 66
User Behavior Switches
8.5
This field allows on the fly user interaction with behavioral aspects of the algorithm (See
Table 38).
Table 38 DMU380 Behavior Switches
Description
Bits
Meaning
Free Integrate
0
0 = use feedback to stabilize the algorithm, 1 = 6DOF inertial
integration without stabilized feedback
Use Mags
1
0 = Do not use mags to stabilize heading (heading will run open
loop or be stabilized by GPS track), 1 = Use mags to stabilize
heading
Use GPS
2
0 = Do not use GPS to stabilize the system, 1 = Use GPS when
available
Stationary Yaw Lock
3
0 = Do not lock yaw when GPS speed is near zero (<0.75 m/s), 1
= Lock yaw when GPS speed is near zero
Restart on Over-range
4
0 = Do not restart the system after a sensor over-range, 1 =
restart the system after a sensor over-range
Dynamic Motion
5
0=vehicle is static, force high gain corrections, 1= vehicle is
dynamic, use nominal corrections
Reserved
6:15
N/A
Hard and Soft Iron Values
8.6
These fields allow access to hard iron bias and soft iron scale ratio values for
magnetometer alignment (See Table 39):
Table 39 DMU380 Magnetic Alignment Parameters
Field Name
Field ID
Format
Scaling
Units
X Hard Iron Bias
0x0009
I2
2/2^16
Gauss
Y Hard Iron Bias
0x000A
I2
2/2^16
Gauss
Soft Iron Scale Ratio
0x000B
U2
2/2^16
-
The hard iron bias values are scaled from [-1,1] Gauss. These values are subtracted from
the tangent plane magnetometer vector before heading is calculated. The soft iron scale
ratio is scaled from [0,2) and is multiplied by the tangent plane x magnetometer value
before heading is calculated.
Heading Track Offset
8.7
This field is used to set the offset between vehicle heading and vehicle track to be used
by the navigation mode filter when no magnetometer heading measurements are available
(See Table 40).
Table 40 DMU380 Heading Track Offset
Field Name
Field ID
Format
Scaling
Units
Heading Track Offset
0x000C
I2
2*pi/2^16
[360°/2^16]
Radians (heading-track)
[°]
