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Table 5-22:

INS Status

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 uncertainty 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.

GpsHeadingIns 8 1 bit In stationary operation, if set the INS Filter has fully aligned to the GPS

Compass solution.

In dynamic operation, the GPS Compass solution is currently aiding

the INS Filter heading solution.

GpsCompass 9 1 bit Indicates if the GPS compass is operational and reporting a heading

solution.

Reserved 10 8 bits Reserved for internal use. These bits will toggle state and should be

ignored.

Table 5-23:

Error Bitfield

Name Bit Offset Format Description

Reserved 0 1 bit Reserved for future use and not currently used.

IMU Error 1 1 bit High if IMU communication error is detected.

Mag/Pres Error 2 1 bit High if Magnetometer or Pressure sensor error is detected.

GPS Error 3 1 bit High if GPS communication error is detected.

VersaSync User Manual 295

APPENDIX

Orolia VersaSync User Manual

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