Advanced Navigation Boreas D90 - Zero Angular Velocity Duration; Extended Satellites Packet; Satellite Systems

Zero Angular Velocity Packet
ation
2 4 4 Reserved (set to zero)
Table 122: Zero Angular Velocity Packet
11.4.47.1 Zero Angular Velocity Duration
Duration is the duration that the unit has been stationary for about the heading axis. The minimum value is 0.1
seconds and the maximum value is 2 seconds.
11.4.48 Extended Satellites Packet
Extended Satellites Packet
Packet ID 84
Length 2 + 9 x number of satellites
Read / Write Read
Field # Bytes Offset Data Type Size Description
1 0 u8 1 Total number of extended satellites packets
2 1 u8 1 Packet number (range 1 to Total)
3 2 u8 1 Satellite System
4 3 u8 1 Satellite number (PRN)
5 4 s8 1 11.4.48.3 Satellite Frequencies
6 5 u8 1 Elevation (deg)
7 6 u16 2 Azimuth (deg)
8 8 u8 1 SNR receiver 1
9 9 u8 1 SNR receiver 2
10 10 u8 1 Flags. See Extended Satellites Flags
+ Fields 3-10 repeat for additional satellites
Table 123: Extended Satellites Packet
The maximum number of satellites per packet is 28. If there are more than 28 satellites to report, multiple
packets will be sent per epoch. In this case the total number of packets in field #1 will be greater than 1, and the
Packet Index in field #2 will increment accordingly.
11.4.48.1
11.4.48.2 Satellite Systems
Value System
0 Unknown
1 GPS
2 GLONASS
v1.2 Page 153 11 Oct 2022
Boreas Reference Manual • Advanced Navigation Packet Protocol