Advanced Navigation Boreas D90 - Automotive Packet

Gimbal State Packet
Field # Bytes Offset Data Type Size Description
1 0 fp32 4 Current angle (rad)
2 4 4 Reserved (set to zero)
Table 118: Gimbal State Packet
11.4.45 Automotive Packet
The value of the slip angle will be zero unless velocity is greater than 3.45 m/s and heading is valid.
Automotive Packet
Packet ID 73
Length 24
Read / Write Read
Field # Bytes Offset Data Type Size Description
1 0 fp32 4 Virtual odometer distance (m)
2 4 fp32 4 Slip Angle (rad)
Value reported is zero, unless heading is valid and the
velocity is greater than 3.45 m/s
3 8 fp32 4 Velocity X (m/s)
4 12 fp32 4 Velocity Y (m/s)
5 16 fp32 4 Distance standard deviation (m)
6 20 4 Reserved (set to zero)
Table 119: Automotive Packet
v1.2 Page 151 11 Oct 2022
Boreas Reference Manual • Advanced Navigation Packet Protocol