Vector Sensor Reference Manual 29
$JATT,HBIAS,x<CR><LF>
Where x is a bias that will be added to the Vector Sensor’s heading, in degrees. The acceptable
range for the heading bias is -180.0° to 180.0°. The default value of this feature is 0.0°.
To determine what the current heading compensation angle is, send the following message to the
Vector Sensor.
$JATT,HBIAS<CR><LF>
1.8.9 Configuring for Pitch or Roll
The mounting configuration of the Antenna Array determines if the second dimension of vessel
orientation will be roll or pitch. As mentioned, if you install the Antenna Array parallel to the axis
of the boat, the Vector Sensor will provide pitch in addition to heading. If the Array were
mounted perpendicular to the vessel axis, the second dimension of orientation would be roll.
Once you decide on which second dimension you would like (if needed), and mount the Antenna
Array in the correct orientation, you will need to ensure that the Vector Sensor is mounted
accordingly.
If you install the Antenna Array in the parallel direction as the boat’s axis, you do not need to make
any configuration changes to receive the pitch measurement - you need to only turn the
appropriate message on (the $PSAT,HPR message).
If you wish to get the roll measurement, you will need to install the Antenna Array perpendicular
to the vessel’s axis, and send the following command to the Vector Sensor.
$JATT,ROLL,YES<CR><LF>
If you wish to return the Vector Sensor to its default mode of pricing the pitch measurement,
issue the following command.
$JATT,ROLL,NO<CR><LF>
You may query the Vector Sensor for the current roll / pitch status with the following command.
$JATT,ROLL<CR><LF>
1.8.10 Configuring Negative Pitch or Roll
When the secondary GPS antenna is below the primary GPS antenna, the angle from the horizon
at the primary GPS antenna to the secondary GPS antenna is considered negative.
Depending on your convention for positive and negative pitch / roll, you may wish to change the
sign (either positive or negative) of the pitch / roll. To do this, issue the following command.
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