Advanced Navigation GNSS Compass - 10.4.22 DCM Orientation Packet; 10.4.23 Angular Velocity Packet

10.4.22 DCM Orientation Packet
DCM Orientation Packet
Packet ID 41
Length 36
Read / Write Read
Field # Bytes Offset Data Type Size Description
1 0 fp32 4 DCM[0][0]
2 4 fp32 4 DCM[0][1]
3 8 fp32 4 DCM[0][2]
4 12 fp32 4 DCM[1][0]
5 16 fp32 4 DCM[1][1]
6 20 fp32 4 DCM[1][2]
7 24 fp32 4 DCM[2][0]
8 28 fp32 4 DCM[2][1]
9 32 fp32 4 DCM[2][2]
Table 70: DCM Orientation Packet
10.4.23 Angular Velocity Packet
Angular Velocity Packet
Packet ID 42
Length 12
Read / Write Read
Field # Bytes Offset Data Type Size Description
1 0 fp32 4 Angular velocity X (rad/s)
2 4 fp32 4 Angular velocity Y (rad/s)
3 8 fp32 4 Angular velocity Z (rad/s)
Table 71: Angular Velocity Packet
v2.0 Page 98 04 Nov 2021
GNSS Compass Reference Manual • Advanced Navigation Packet Protocol