Advanced Navigation Boreas D90 - External Body Velocity Packet; External Heading Packet; Running Time Packet

11.4.27 External Body Velocity Packet
This packet has been defined to support a single velocity standard deviation for all three axes, or, different
values for all three axes. Modify the packet length in the packet header accordingly, depending on which format
you are using.
External Body Velocity Packet
Packet ID 47
Length 16 or 24
Read / Write Read / Write
Field # Bytes Offset Data Type Size Description
1 0 fp32 4 Velocity X (m/s)
2 4 fp32 4 Velocity Y (m/s)
3 8 fp32 4 Velocity Z (m/s)
4 12 fp32 4 Velocity X standard deviation (m/s)
5 16 fp32 4 OPTIONAL: Velocity standard deviation Y (m/s)
6 20 fp32 4 OPTIONAL: Velocity standard deviation Z (m/s)
Table 89: External Body Velocity Packet
11.4.28 External Heading Packet
External Heading Packet
Packet ID 48
Length 8
Read / Write Read / Write
Field # Bytes Offset Data Type Size Description
1 0 fp32 4 Heading (rad)
2 4 fp32 4 Heading standard deviation (rad)
Table 90: External Heading Packet
11.4.29 Running Time Packet
This packet provides the running time in seconds since the most recent power on.
Running Time Packet
Packet ID 49
Length 8
Read / Write Read
Field # Bytes Offset Data Type Size Description
1 0 u32 4 Running time (seconds)
2 4 u32 4 11.4.1.5 Microseconds
Table 91: Running Time Packet
v1.2 Page 137 11 Oct 2022
Boreas Reference Manual • Advanced Navigation Packet Protocol