11.5.4.1 Alignment DCM
The alignment DCM (Direction Cosine Matrix) is used to represent an alignment offset of Boreas from its
standard alignment. A DCM is used rather than Euler angles for accuracy reasons. To convert Euler angles to
DCM, use the formula below with angles in radians.
DCM[0][0] = cos(heading) * cos(pitch)
DCM[0][1] = sin(heading) * cos(pitch)
DCM[0][2] = -sin(pitch)
DCM[1][0] = -sin(heading) * cos(roll) + cos(heading) * sin(pitch) * sin(roll)
DCM[1][1] = cos(heading) * cos(roll) + sin(heading) * sin(pitch) * sin(roll)
DCM[1][2] = cos(pitch) * sin(roll)
DCM[2][0] = sin(heading) * sin(roll) + cos(heading) * sin(pitch) * cos(roll)
DCM[2][1] = -cos(heading) * sin(roll) + sin(heading) * sin(pitch) * cos(roll)
DCM[2][2] = cos(pitch) * cos(roll)
11.5.5 Filter Options Packet
Filter Options Packet
Packet ID 186
Length 17
Read / Write Read / Write
Field # Bytes Offset Data Type Size Description
1 0 u8 1 Permanent
2 1 u8 1 11.5.5.1 Vehicle Types
3 2 u8 1 Internal GNSS enabled (boolean)
4 3 u8 1 Reserved (set to zero)
5 4 u8 1 Atmospheric altitude enabled (boolean)
6 5 u8 1 Velocity heading enabled (boolean)
7 6 u8 1 Reversing detection enabled (boolean)
8 7 u8 1 Motion analysis enabled (boolean)
9 8 u8 1 Reserved (set to zero)
10 9 u8 1 Dual antenna disabled
11 10 7 Reserved (set to zero)
Table 134: Filter Options Packet
11.5.5.1 Vehicle Types
Value Description
0 Unlimited
1 Bicycle or Motorcycle
2 Car
v1.2 Page 161 11 Oct 2022
Boreas Reference Manual • Advanced Navigation Packet Protocol
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