Offset Name Format Unit Description
16 Pitch float deg Pitch angle relative to horizon.
20 Roll float deg Roll angle relative to horizon.
24 Latitude double deg INS solution position in geodetic latitude.
32 Longitude double deg INS solution position in geodetic longitude.
40 Altitude double m Height above ellipsoid. (WGS84)
48 NedVelX float m/s INS solution velocity in NED frame. (North)
52 NedVelY float m/s INS solution velocity in NED frame. (East)
56 NedVelZ float m/s INS solution velocity in NED frame. (Down)
60 AttUncertainty float deg Uncertainty in attitude estimate.
64 PosUncertainty float m Uncertainty in position estimate.
68 VelUncertainty float m/s Uncertainty in velocity estimate.
Name Bit Format Description
Mode 0 2 bits Indicates the current mode of the INS filter.
0 = Not tracking. GPS Compass is initializing. Output heading is based
on magnetometer measurements.
1 = Aligning. INS Filter is dynamically aligning. For a stationary startup:
GPS Compass has initialized and INS Filter is aligning from the mag-
netic heading to the GPS Compass heading. For a dynamic startup:
INS Filter has initialized and is dynamically aligning to True North
heading. In operation, if the INS Filter drops from INS Mode
2 back down to 1, the attitude undertainty has increased above 2
degrees.
2 = Tracking. The INS Filter is tracking and operating within spe-
cification.
3 = Loss of GPS. A GPS outage has lasted more than 45 seconds. The
INS Filter will no longer update the position and velocity outputs, but
the attitude remains valid.
GpsFix 2 1 bits Indicates whether the GPS has a proper fix.
Error 3 4 bits Sensor measurement error code. See table below. 0 = No errors
detected.
Reserved 7 1 bit Reserved for internal use. May toggle state during runtime and should
be ignored.
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