Name Bit Format Description
GpsHeadingIns 8 1 bit In stationary operation, if set the INS Filter has fully aligned to the GPS
Compass solution.
In dynamic operation, the GPS Compass solution is currently aiding
the INS Filter heading solution.
GpsCompass 9 1 bit Indicates if the GPS compass is operational and reporting a heading
solution.
Reserved 10 8 bits Reserved for internal use. These bits will toggle state and should be
ignored.
Table 5-20:
Error Bitfield
Name Bit Offset Format Description
Reserved 0 1 bit Reserved for future use and not currently used.
IMU Error 1 1 bit High if IMU communication error is detected.
Mag/Pres Error 2 1 bit High if Magnetometer or Pressure sensor error is detected.
GPS Error 3 1 bit High if GPS communication error is detected.
Note: You can configure the device to output this register at a fixed rate
using the Async Data Output Type Register in the System subsystem.
Once configured the data in this register will be sent out with the $VNINS
header.
5.3.4.15 VNINE
Output Type: INS Solution – ECEF
Register ID: 64
Async Header: INE
Access: Read Only
Size (Bytes): 72
Example Read Response : $VNRRG, 64, 333837.222917, 1694,0004, +009.315, -
004.767, - 000.193, - 0626356.433, - 5320530.947, +3449961.679, - 000.224, -
000.476, -000.564, 07.7, 01.5, 0.22*65
VersaSync User Manual 293
APPENDIX
To Next Page
Loading...
Need help?
General