Advanced Navigation Boreas D90 - DCM Orientation Packet; Angular Velocity Packet

11.4.21 DCM Orientation Packet
DCM Orientation Packet
Packet ID 41
Length 36
Read / Write Read
Field # Bytes Offset Data Type Size Description
1 0 fp32 4 DCM[0][0]
2 4 fp32 4 DCM[0][1]
3 8 fp32 4 DCM[0][2]
4 12 fp32 4 DCM[1][0]
5 16 fp32 4 DCM[1][1]
6 20 fp32 4 DCM[1][2]
7 24 fp32 4 DCM[2][0]
8 28 fp32 4 DCM[2][1]
9 32 fp32 4 DCM[2][2]
Table 83: DCM Orientation Packet
11.4.22 Angular Velocity Packet
Angular Velocity Packet
Packet ID 42
Length 12
Read / Write Read
Field # Bytes Offset Data Type Size Description
1 0 fp32 4 Angular velocity X (rad/s)
2 4 fp32 4 Angular velocity Y (rad/s)
3 8 fp32 4 Angular velocity Z (rad/s)
Table 84: Angular Velocity Packet
v1.2 Page 134 11 Oct 2022
Boreas Reference Manual • Advanced Navigation Packet Protocol