Vector Sensor Reference Manual 100
An example of the response to this message follows.
$>JATT,SUMMARY,TAU:H=0.50,HR=2.00,P=0.50,COG=0.00,SPD=0.00,BIAS:H=0.00,P=0.00,FLA
G_HEX:GN-RMTL=01
Field Description
htau This data field provides the current heading time constant in seconds.
hrtau This data field provides the current heading rate time constant in seconds
ptau This data field provides the current pitch time constant in seconds
cogtau This data field provides the current course over ground time constant in
seconds
spdtau This data field provides the current speed time constant in seconds
hbias This data field gives the current heading bias in degrees
pbias This data field gives the current pitch / roll bias in degrees
hexflag This field is a hex code that summarizes the heading feature status and is
described in the following table
Value Flag
Feature On Feature Off
Gyro aiding 02 0
Negative tilt 01 0
Roll 08 0
Magnetic aiding 04 0
Tilt aiding 02 0
Level 01 0
The ‘GN-RMTL’ field is two separate hex flags, ‘GN’ and ‘RMTL’. The ‘GN’ value is determined by
computing the sum of the gyro aiding and negative tilt values, depending if they are on or off. If the
feature is on, their value is included in the sum. If the feature is off, it has a value of zero when
computing the sum. The value of RMTL is computed in the same fashion but by adding the values
of roll, magnetic aiding, tilt aiding, and level operation.
For example, if gyro aiding, roll, and magnetic aiding features were each on, the values of ‘GN’ and
‘RMTL’ would be the following:
GN = hex ( 02 + 0 ) = hex ( 02 ) = 2
RMTL = hex ( 08 + 04) = hex (12) = C
‘GN-RMTL’ = 2C
The following tables summarize the possible feature configurations for the first GN character and
the second RMTL character.
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