Advanced Navigation Boreas D90 - North Seeking Initialisation Status Packet; North Seeking Initialisation Status Flags; Gimbal State Packet

11.4.43 North Seeking Initialisation Status Packet
North Seeking Initialisation Status Packet
Packet ID 71
Length 28
Read / Write Read / Write
Field # Bytes Offset Data Type Size Description
1 0 u16 2 Flags, See 11.4.43.1 North Seeking Initialisation
Status Flags
2 2 u16 2 Version
3 4 u8 1 Progress (%)
4 5 u8 1 Alignment Attempts
5 6 2 Reserved (set to zero)
6 8 fp32 4 Coarse alignment heading (rad)
7 12 fp32 4 Predicted accuracy (rad)
8 16 fp32 4 Reserved (set to zero)
Table 116: GPIO Configuration Packet
11.4.43.1 North Seeking Initialisation Status Flags
Value Description
0 North seeking initialisation complete
1 North seeking initialisation cannot start because the position is unknown
2 Solution out of range
3 Solution non-orthogonal
4 Restarted due to excessive movement
5 Restarted due to change in latitude
6 Restarted due to user change in lever arm offset
7 Latitude check failed
8-16 Reserved (set to zero)
Table 117: North Seeking Initialisation Status Flags
11.4.44 Gimbal State Packet
Gimbal State Packet
Packet ID 72
Length 8
Read / Write Read / Write
v1.2 Page 150 11 Oct 2022
Boreas Reference Manual • Advanced Navigation Packet Protocol