DR + GPS
STARTER KIT REFERENCE MANUAL
Lassen DR + GPS Reference Manual 86
Data report packets can be queried or output based on time interval, distance
traveled, heading change. Data validity must be checked before the data field are
translated or used.
0x30-02: Fast Fix with Raw DR Data Message
This message is prepared for output every fast cycle (5 Hz or 10 Hz) when in
HIPPO mode, except for a short period at start-up. The Output Interval Control
determines the actual rate of output. This message has higher priority than other
messages, so a series of reports that lasts longer than 100 milliseconds may
have one or more of these messages interspersed. This should cause no
problem, since all series of reports are terminated by an acknowledgment.
Table 60: 0x30-02: Fast Fix with Raw DR Data Message
Byte Name Type Units/
LSB Range / Value Meaning
Code U8 0x30
Subcode U8 0x02
0 0 Position Status U1 1 = Valid
0 1 Altitude Status U1 1 = Valid
0 2 Heading Status U1 1 = Valid
0 3 Speed Status U1 1 = Valid
0 4 Direction Switch Status U1 1 = Valid
0 5 Delta-Distance Status U1 1 = Valid
0 6 Delta-Heading Status U1 1 = Valid
0 7 Motion Status U1 1 = Valid
1 0 Motion Indicator U1 1 = Motion
1 1 Direction U1 1 = Backward
1 2 Gyro Calibration Status U1 1 = Calibrated
1 3 Tacho Calibration Status U1 1 = Calibrated
1 4-5 Time source U2 0
1
2
3
System clock
RTC
GPS (< 10 ms)
GPS (< 1 ms)
1 6 Snap to DR+GPS U1 0
1
DR-Propagated
Jump
2 GPS Data Age Index U8 s 0-253
254
255
Age
>253 s
GPS N/A